  This article dives into the use of a 3-RRR Spherical Parallel Manipulator
(SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a
parallel robot provides three Degrees of Freedom (DOF) in orientation and is
studied from the kinematic point of view. In particular, one guarantees that
the singular loci (with the resulting numerical instabilities and inappropriate
behavior of the mechanism) are far away from the prescribed workspace. Once the
kinematics of the device is certified, a control strategy needs to be
implemented in order to stabilize the LOS through the upper platform of the
mechanism. Such a work is done with MATLAB Simulink using a SimMechanics model
of our robot.
