CHENAFA MariemYOUNES Khedidja2026-09-302026-09-302026https://dspace.univ-temouchent.edu.dz/handle/123456789/7696This thesis presents the design, modeling, and numerical validation of a five-degree-of-freedom (5- DOF) serial robotic manipulator equipped with a horizontal rotating base for operations on spherical surfaces. This original architecture is intended to optimize axisymmetric tasks such as inspection, drilling, and surface treatment while reducing mechanical and algorithmic complexity. A vector- guidance approach based on a dual-targeting system was developed to ensure motion continuity and minimize orientation singularities. The forward kinematic model was established using homogeneous transformation matrices, while the inverse kinematic model was solved analytically through vector decoupling. Workspace analysis enabled the determination of trajectory reachability conditions and the identification of singular configurations specific to the proposed architecture. Model validation was achieved through cross- verification between a Three.js-based 3D simulation environment and a scientific solver developed in Python, demonstrating a high level of agreement between analytical results and simulated trajectories.frSerial manipulator5-DOF robothorizontal rotating basespherical surfacekinematic modelingforward kinematicsinverse kinematicsworkspace analysiskinematic singularitiesnumerical validation.Thesis