Parallel robotic manipulators can be considered a well-established option

for many different applications of manipulation, machining, guiding,

testing, control, tracking, haptic force feed-back, etc. A typical parallel robotic

manipulator (PM) consists of a mobile platform connected to the

base (fixed platform) by at least two kinematic chains called limbs. The

mobile platform can achieve between one and three independent translations

(T) and one to three independent rotations (R).