1. Kinematics of the 3 DOF ISOGLIDE3 parallel robot

The artificial intelligence techniques have been recognized approach to adaptation and conversion of hu-man knowledge into a form understandable by computers. Advanced control based on artificial intelligence tech-niques is typically referred to as intelligent control. Medical parallel robots, on the other hand, have gained much popularity because of their: • intimate interaction with humans; • unstructured, irregular and dynamic environment; • unpredictable actions/response of operator/patient; • complex tasks on irregular subjects; • serious consequences of error or failure; • high likelihood of emergency situations. Nowadays, medical robots are used in orthopaedic interventions on the femur. The head, or condyle, of the femur forms the ball of the hip ball-and-socket joint. The condyle is joined to the femur by a narrow neck where the most common type of fracture occurs. Sur-gical repair involves stabilizing the fracture with a stainless steel fixture secured in place by screws. The 3 DOF ISOGLIDE3 parallel robot and its structure are shown in Fig. 1, where a mobile platform is coupled with the fixed base by three legs of PRRR type (Prismatic Revolute Revolute Revolute). The forward and inverse kinematic analysis is tri-vial. The three translational motions of the moving plat