Philippe Wenger
221
Documents
Identifiants chercheurs
- philippe-wenger
- IdRef : 035621621
- 0000-0002-6608-4484
Présentation
Philippe Wenger obtained his PhD in 1989 in Nantes University, France, and the Professor Habilitation in 1998. He joined the IRCCyN in 1990 as a CNRS research scientist and is with the LS2N since 2017. He is a CNRS Director of Research since 2002 and serves as a Professor at Ecole Centrale de Nantes since 2000 where he teaches a course on the optimal kinematic design of robots in the EMARO master (European Master on Robotics). He has led several research teams since 1998, including the robotics team of IRCCyN from 2010 to 2016. He has been involved in the kinematic analysis and design of robotic mechanisms for more than 30 years. He has participated in several national and international projects on the innovative design of robots in a variety of applications including machining, pick-and-place, medical and bio-inspired design. He has been regularly collaborating with industrial partners such as GE-Healthcare, Staubli, PSA, Renault, EDF, Airbus, STX-France and DCNS. He has given 26 keynotes or plenary lectures in national and international conferences, workshops and seminars. He has been a visiting professor in various Universities such as Laval Univ. (Canada), Lomonossov Univ. (Russia), Keio Univ. (Japan), ITLag (Mexico), Eniso (Tunisia), AIT Bangkok (Thailand), IIT Indore (India) and Changzhou Univ. (China). He has organized and chaired 6 international conferences and workshops, and has been a member in the scientific committee of more than 20 international conferences. He serves as an Associate Editor for Mechanism and Machine Theory and ASME Journal of Mechanisms and Robotics, and as a Vice-Chair of the IFToMM Committee Computational Kinematics.
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Trajectory planning issues in cuspidal commercial robotsInternational Conference on Robotics and Automation, IEEE, May 2023, London, United Kingdom
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hal-04055520v1
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Comparison of Explicit and Implicit Numerical Integrations for a Tendon-Driven Robot6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.234-245, ⟨10.1007/978-3-031-32322-5_19⟩
Communication dans un congrès
hal-04121447v1
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Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM WC 2023), Nov 2023, Tokyo, Japan. pp.332-341, ⟨10.1007/978-3-031-45770-8_33⟩
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hal-04311457v1
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Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, Med Amine Laribi, Jun 2023, Poitiers, France. pp.111-123, ⟨10.1007/978-3-031-29815-8_12⟩
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hal-04271938v1
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Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.121-133, ⟨10.1007/978-3-031-32322-5_10⟩
Communication dans un congrès
hal-04121450v1
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A New Bio-Inspired Joint with Variable StiffnessInternational Workshop on New Trends in Medical and Service Robots (MESROB 2023 ), Daniela Tarnita, Jun 2023, Craiova, Romania. pp.220-227, ⟨10.1007/978-3-031-32446-8_24⟩
Communication dans un congrès
hal-04271760v1
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Effect of antagonistic cable actuation on the stiffness of symmetric four-bar mechanismsCableCon 2023: Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.332-343, ⟨10.1007/978-3-031-32322-5_27⟩
Communication dans un congrès
hal-04118861v1
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Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic GeometryISSAC 2022 - 47th International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
Communication dans un congrès
hal-03596704v3
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Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators25 ème Congrès Français de Mécanique, Aug 2022, Nantes, France
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hal-03797283v1
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Control in the operational space of a redundant and under-actuated tensegrity robot25ème Congrès Français de Mécanique, Aug 2022, Nantes, France
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hal-03797431v1
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Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategiesAdvances in Robot Kinematics 2022, Jun 2022, Bilbao, Spain
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A bio-inspired 3-DOF light-weight manipulator with tensegrity X-jointsICRA'2020, May 2020, Paris, France
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Design and analysis of a tensegrity mechanism for a bio-inspired robotThe ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019, Aug 2019, Annaheim, California, United States, Aug 2019, Annaheim, CA, United States. ⟨10.1115/DETC2019-97544⟩
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hal-02189437v1
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Modelling, design and control of a bird neck using tensegrity mechanismsICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada
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hal-02355070v1
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Prototype of a tensegrity manipulator to mimic bird necks24ème Congrès Français de Mécanique, Aug 2019, Brest, France
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hal-02264288v1
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Combining precision and power to maximize performance: a case study of the woodpecker's neck44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France
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hal-02265058v1
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A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic MachineIFToMM Asian Mechanism and Machine Science 2018, Dec 2018, Bengaluru, India
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hal-01984427v1
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Algebraic Analysis of a 3-RUU Parallel ManipulatorThe 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy
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hal-01757514v1
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A Dual Reconfigurable 4-rRUU Parallel Manipulator4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨10.1109/REMAR.2018.8449902⟩
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hal-01757553v1
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Kinematic analysis of planar tensegrity 2-X manipulators16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy
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hal-01791317v1
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Optimal design of tensegrity mechanisms used in a bird neck modelEuropean Conference on Mechanism Science (EUCOMES'2018), Sep 2018, Aachen, Germany. pp.365-375, ⟨10.1007/978-3-319-98020-1_43⟩
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hal-01989992v1
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Preliminary survey of backdrivable linear actuators for humanoid robots22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩
Communication dans un congrès
hal-01989982v1
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Workspace and cuspidality analysis of a 2-X planar manipulator4th IFToMM Symposium on Mechanism Design for Robotics, Sep 2018, Udine, Italy
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hal-01810820v1
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Dynamic analysis and control of an antagonistically actuated tensegrity mechanism22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.481-490, ⟨10.1007/978-3-319-78963-7_60⟩
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hal-01989963v1
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Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France
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Operation Modes and Self-motions of a 2-RUU Parallel ManipulatorThe 3rd IFToMM Symposium on Mechanism Design for Robotics, Jun 2015, Aalborg, Denmark
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Operation Modes and Singularities of 3-PRS Parallel Manipulators with Different Arrangements of P-jointsASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-47935⟩
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Kinematic Analysis and Trajectory Planning of the Orthoglide 5-AxisInternational Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-46292⟩
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Design of 3-RPS Parallel Manipulators based on Operation ModesThe 14th IFToMM World Congress in Mechanism and Machine Science, Oct 2015, Taipei, Taiwan
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Synthesis of 3-RPS Parallel Manipulators based on Prescribed Operation ModesThe 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France
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A study of Σ 2 singularities in the 3-RPS Parallel ManipulatoriNaCoMM 2015, Dec 2015, Kanpur, India
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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large StructuresCableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩
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lirmm-01221407v1
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Optimal Design of Cable-Driven Parallel Robots for Large Industrial StructuresICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩
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lirmm-01221401v1
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Optimal Design of the IRSBot-2 Based on an Optimized Test TrajectoryASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Aug 2013, Portland, Oregon, United States. ⟨10.1115/DETC2013-13037⟩
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hal-00818100v1
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Conceptual design of Schoenflies motion generators based on the wrench graphASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. ⟨10.1115/DETC2013-13084⟩
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hal-00830400v1
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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel RobotASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩
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hal-00692371v1
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Analysis of the Dynamic Performance of Serial 3R Orthogonal ManipulatorsASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Jul 2012, Nantes, France. pp.175-184, ⟨10.1115/ESDA2012-82208⟩
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hal-00667609v1
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Constraint and Singularity Analysis of the ExechonThe Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions (MTM) and the International Conference on Robotics (Robotics’12), Jan 2012, Clermont-Ferrand, France. pp.141-150, ⟨10.4028/www.scientific.net/AMM.162.141⟩
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hal-03533368v1
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Constraint Singularity-Free Design of the IRSBot-2Advances in Robot Kinematics, Jun 2012, Innsbruck, Austria
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hal-00676851v1
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Singular surfaces and cusps in symmetric planar 3-RPR manipulatorsIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩
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hal-00610313v1
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Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley AlgebraThe 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Jun 2011, Montréal, Canada. pp.1-12
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hal-00642267v1
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A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8
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hal-00598302v1
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Uniqueness domains and non singular assembly mode changing trajectoriesInternational Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1-6
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hal-00583302v1
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Etude des Conditions d'Assemblage de Manipulateurs Hyperstatiques : application à un manipulateur 5 barresCFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
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hal-03422528v1
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IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
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hal-00590041v1
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IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed OperationsASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩
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hal-00590082v1
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The Kinematic Sensitivity of Robotic Manipulators to Joint ClearancesASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2010, Montreal, Canada. ⟨10.1115/DETC2010-28635⟩
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Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩
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Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8
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Cusp points in the parameter space of RPR-2PRR parallel manipulators3rd European Conference on Mechanism Science : EUCOMES 2010, Sep 2010, Cluj-Napoca, Romania. pp.29-37, ⟨10.1007/978-90-481-9689-0_4⟩
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Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated NacelleAdvances in Robot Kinematics, Jun 2010, Piran-Portoroz, Slovenia. pp.273-282
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hal-00642259v1
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Accuracy Improvement for Stiffness Modeling of Parallel Manipulators42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8
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Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axisTroisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8
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2D multi-objective placement algorithm for free-form componentsASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2009, San Diego, United States. pp.DETC2009-87603
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hal-00432667v2
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The eel-like robotASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
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Design optimization of parallel manipulators for high-speed precision machining applications13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6
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hal-00414240v1
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Méthode générique pour la résolution des problèmes de placement bidimensionnel11ème Colloque National AIP PRIMECA, Apr 2009, La Plagne, France. pp.45
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Optimisation de placement dans les problèmes de conceptionCongrès Français de Mécanique CFM'2009, Aug 2009, Marseille, France. pp.6
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hal-00432672v1
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Optimisation de placement dans les problèmes de conceptionCFM 2009 - 19ème Congrès Français de Mécanique, Aug 2009, Marseille, France
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hal-03391298v1
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Présentation d'une méthode de résolution pour les problèmes de placement 2D et 3DROADEF 2009, Feb 2009, Nancy, France
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Kinematic analysis of a class of analytic planar 3-RPR parallel manipulatorsInternational Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8
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hal-00412923v1
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Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10
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hal-00340626v1
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6
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hal-00326672v1
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Kinematic and Dynamic Analyses of the Orthoglide 5-axisCongress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6
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hal-00322702v1
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Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10
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hal-00322720v1
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Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4
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hal-00323101v1
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Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel ManipulatorsICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6
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SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley AlgebraAdvances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10
Communication dans un congrès
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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performancesICRA, Apr 2007, Rome, Italy. pp.1-6
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hal-00164595v1
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Kinematics analysis of the parallel module of the VERNE machineThe 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6
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Workspace and Kinematic Analysis of the VERNE machineAIM, Sep 2007, Zürich, Switzerland. pp.1-6
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hal-00164877v1
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Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel ManipulatorsJun 2007, Besançon, France. pp.1-6
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hal-00145398v1
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A design oriented study for 3R Orthogonal Manipulators With Geometric SimplificationsMar 2007, Monastir, Tunisia. pp.1-8
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Calibration of quasi-isotropic parallel kinematic Machines: OrthoglideMay 2007, Angers, France. pp.1-8
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hal-00145161v1
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An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel ManipulatorsEuropean Conference on Mechanism Science, Feb 2006, Obergurgl, Austria. pp.1-12
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hal-00145468v1
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Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks3rd International Conference on Informatics in Control, Aug 2006, Setubal, Portugal. pp.1-7
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Singular curves and cusp points in the joint space of 3-RPR parallel manipulators2006, Orlando, United States. pp.1-6
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hal-00160809v1
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Kinematic Calibration of the Orthoglide-Type Mechanisms2006, Saint Etienne, France. pp.1-6
Communication dans un congrès
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Kinematic analysis of the 3-RPR parallel manipulator10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228
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A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile EyeIDETC, 2006, Philadelphie, United States. pp.1-8
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Working and Assembly Modes of the Agile EyeIEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322
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hal-00168519v1
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Analyse Comparative des Manipulateurs 3R à Axes OrthogonauxCongrès international Conception et Modélisation des Systèmes Mécaniques, Mar 2005, Hammamet, Tunisie. pp.1-12
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hal-00165061v1
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A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile EyeVirtual Concept, Nov 2005, France. pp.1-6
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An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric SimplificationsProceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12
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Comparison of Robustness Indices and Introduction of a Tolerance Synthesis Method for MechanismsCanadian Congress of Applied Mechanics, May 2005, Montreal, Canada. pp.1-2
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Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel RobotICRA, Apr 2005, Barcelone, Spain. pp.1-6
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A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval AnalysisApr 2004, Tianjin, China. pp.1-6
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A Workspace based Classification of 3R Orthogonal Manipulators2004, Sestri-Levante, Italy. pp.1-10
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The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7
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Parametric Stiffness Analysis of the OrhtoglideInternational Symposium on Robotics, Mar 2004, Paris, France. pp.1-7
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A Classification of 3R Orthogonal Manipulators by the Topology of their WorkspaceICRA, Apr 2004, Barcelona, Spain. pp.1-6
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The Orthoglide: Kinematics and Workspace Analysis2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès
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Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic MachineASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩
Communication dans un congrès
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The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining ApplicationsICRA, 2003, Coimbra, Portugal. pp.1-6
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Classification of one family of 3R positioning Manipulators2003, Coimbra, Portugal. pp.1-6
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A New Concept of Modular Parallel Mechanism for Machining Applications2003, Taipei, Taiwan. pp.1-6
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A Novel method for the design of 2-DOF Parallel mechanisms for machining applications2002, Caldes de Malavella, Spain. pp.1-11
Communication dans un congrès
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Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide2002, Québec, Canada. pp.1-9
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Etat de l'art de la Conception Robuste de MécanismesJournée AIP-PRIMECA, Jan 2002, Cachan, France. pp.1-10
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The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès
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L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope2ème Assises Machines et Usinage à Grande Vitesse, Mar 2002, France. pp.1-9
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Workspace Analysis of the Orthoglide using Interval Analysis2002, Caldes de Malavella, Spain. pp.1-10
Communication dans un congrès
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Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'OrthoglideCIFA, Jul 2002, Nantes, France. pp.1-6
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Robots à Architecture Complexe : De la Conception à la Performance et l'AutonomieROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11
Communication dans un congrès
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Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The OrthoglideIDMME, 4ème conférence internationale sur la conception et la fabrication intégrées en mécanique, May 2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès
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The Isoconditioning Loci of Planar Three-DOF Parallel ManipulatorsASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩
Communication dans un congrès
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The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance CriteriaThe 3rd INTERNATIONAL CONFERENCE ON METAL CUTTING AND HIGH SPEED MACHINING, 2001, Metz, France. pp.1-10
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A Comparative Study of Parallel Kinematic Architectures for Machining ApplicationsWCK, May 2001, Séoul, South Korea. pp.1-6
Communication dans un congrès
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Kinematic Analysis of a New Parallel Machine Tool: the OrthoglideARK, 2000, Slovenia. pp.1-11
Communication dans un congrès
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Conception Isotropique d'une morphologie parallèle : Application à l'usinageIDMME, May 2000, Montréal, Canada. pp.1-10
Communication dans un congrès
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A New Three-DOF Parallel Mechanism: Milling Machine Applications2000, Chemnitz, Germany. pp.1-9
Communication dans un congrès
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La parcourabilité pour les manipulateurs pleinement parallèlesLa Plagne AIP-Priméca, 1999, La Plagne, France. pp.1-8
Communication dans un congrès
hal-00145086v1
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On the characterization of the regions of feasible trajectories in the workspace of parallel manipulatorsTenth World Congress On The Theory Of Machines And Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès
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Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel ManipulatorsTenth World Congress on the Theory of Machines and Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès
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Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive StudyARK, 1998, Austria. pp.117-126
Communication dans un congrès
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Working Modes and Aspects in Fully-Parallel ManipulatorInternational Conference on Robotics and Automation, May 1998, Bruxelle, Belgium. pp.1964-1969, ⟨10.1109/ROBOT.1998.680601⟩
Communication dans un congrès
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The Isoconditioning Loci of A Class of Closed-Chain ManipulatorsMay 1998, Bruxelle, Belgium. pp.1970-1976
Communication dans un congrès
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The Kinematic design of a 3-dof Hybrid ManipulatorIntegrated Design and Manufacturing in Mechanical Engineering, 1998, Compiègne, France. pp.1-8
Communication dans un congrès
hal-00145047v1
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Moveability and Collision Analysis for Fully-Parallel ManipulatorsRoManSy, Jul 1998, Paris, France. pp.1-8
Communication dans un congrès
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Uniqueness Domains in the Workspace of Parallel Manipulators1997, Nantes, France. pp.1-6
Communication dans un congrès
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Definition sets for the Direct Kinematics of Parallel Manipulators8th International Conference in Advanced Robotics, Jul 1997, Monterey, United States. pp.859 - 864, ⟨10.1109/ICAR.1997.620282⟩
Communication dans un congrès
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New trends in medical and service roboticsSpringer, 2016, 978-3-319-30674-2
Ouvrages
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Advances in Robot KinematicsSpringer, 2008
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Un robot en tenségrité inspiré du cou de l'oiseauTechniques de l'Ingénieur, 2023, Automatique-Robotique
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A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic MachineSpringer. Lecture Notes in Mechanical Engineering, 2021, 978-981-15-4476-7
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Static analysis and design strategy of two antagonistically actuated jointsNew Trends in Mechanism and Machine Science, 2020
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Kinematic analysis of a planar manipulator with anti-parallelogram joints and offsetsAdvances in Robot Kinematics, Springer, 2020
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Using Maple to analyse parallel robotsJürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩
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Algebraic Analysis of a 3-RUU Parallel ManipulatorIn: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham, pp.141-149, 2019, ⟨10.1007/978-3-319-93188-3_17⟩
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Operation modes and workspace of a 4-rRUU Parallel ManipulatorIn: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp.649-657, 2019, ⟨10.1007/978-3-030-20131-9_65⟩
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Dynamic modeling and control of a tensegrity manipulator mimicking a bird neckAdvances in Mechanism and Machine ScienceProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, pp.2087-2097, 2019, 978-3-030-20130-2. ⟨10.1007/978-3-030-20131-9_207⟩
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Cuspidal RobotsSpringer. Singular Configurations of Mechanisms and Manipulators, pp.67 - 99, 2019, CISM International Centre for Mechanical Sciences, ⟨10.1007/978-3-030-05219-5_3⟩
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Preliminary survey of backdrivable linear actuators for humanoid robotsROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019
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Kinematic Analysis and Design Optimization of a 4-rRUU Parallel ManipulatorAdvances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩
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Hidden cuspsJadran Lenarcic; Jean-Pierre Merlet. Advances in Robot Kinematics 2016, 4, Springer, pp.129-138, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_14⟩
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Kinetostatic Analysis and Solution Classification of a Planar Tensegrity MechanismComputational Kinematics. Mechanisms and Machine Science, 50, Springer, Cham, 2017, 978-3-319-60866-2. ⟨10.1007/978-3-319-60867-9_48⟩
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Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free CircleNew Trends in Mechanism and Machine Science Theory and Industrial Applications, 43, pp.121-130, 2017, Mechanisms and Machine Science, ⟨10.1007/978-3-319-44156-6_13⟩
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Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation ModesNew Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩
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Nonsingular change of assembly mode without any cuspJadran Lenarcic; Oussama Khatib. Advances in Robot Kinematics, Springer, pp.105-112, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_12⟩
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Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspaceLenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0
Chapitre d'ouvrage
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Perturbation of symmetric 3-RPR manipulators and asymptotic singularitiesF. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩
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Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform RotationRomansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩
Chapitre d'ouvrage
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Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg ObservationsJee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008
Chapitre d'ouvrage
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Kinematic calibration of orthoglide-type mechanismsAlexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France
Chapitre d'ouvrage
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The Isoconditioning Loci of Planar Three-Dof Parallel ManipulatorsRecent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩
Chapitre d'ouvrage
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Système et procédé de branchement d’un organe de connexion à un organe de connexion complémentaire porté par un véhicule automobileFrance, N° de brevet: 1852014. 2018
Brevet
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Dispositif de déplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapideFrance, Patent n° : FR2850599. 2003, pp.27
Brevet
hal-00186783v1
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Derivation of a polynomial equation for the boundaries of 2-X manipulators2018
Pré-publication, Document de travail
hal-01905469v1
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Cuspidal Robots2016
Pré-publication, Document de travail
hal-01377763v3
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Static analysis of an under-actuated bio-inspired robotLaboratoire des sciences du numérique de Nantes (LS2N). 2024
Rapport
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Review Report - Fourth Quarter 2023: Analysis and Design of Spatial Mechanisms of Tensegrity for Collaborative ManipulationCentrale Nantes; IMT Atlantique. 2024
Rapport
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