Co-authors

Researcher identifiers

Number of documents

180

Stéphane Caro


Stéphane Caro works as Director of Research at the National Centre for Scientific Research (CNRS) and in the Laboratory of Digital Sciences of Nantes (LS2N), UMR CNRS 6004, France. Dr. Caro received his Engineering and M.Sc. degrees in mechanical engineering from Ecole Centrale Nantes, Nantes, France, in 2001, and his Doctorate degree in mechanical engineering from the University of Nantes in 2004. He was a Post-doctoral Fellow in the Centre for Intelligent Machines, McGill University, Montreal, QC, Canada from 2005 to 2006. He was awarded the accreditation to supervise research (HDR) in 2014. 

Dr. Caro is the head of the “Robots and Machines for Manufacturing Society and Services” (RoMaS) Team at LS2N. He is also a part-time researcher at IRT Jules Verne, a mutualized industrial research institute. Moreover, he is a lecturer at Ecole Centrale de Nantes. He is a member of ASME and IEEE. He is one of the two recipients of the 2018 Reviewers of the Year for the ASME Journal of Mechanisms and Robotics. He is one of two recipients of the 2019 Crossley Award, Mechanism and Machine Theory. He is associate editor for the ASME Journal of Mechanisms and Robotics. 

Dr. Caro’s research focuses on design, modeling and control of cable-driven parallel robots and reconfigurable parallel robots. He is the author of 67 papers published in international journals, 159 papers presented in international conferences, 46 contributions in books and 6 patents.

E-mail address: stephane.caro@ls2n.fr

Tel: +33 (0)2 40 37 69 68

LS2N - Centrale Nantes
Room 505
1, rue de la Noë
44 321 Nantes CEDEX3
FRANCE


Journal articles66 documents

  • Julian Czapalay Erskine, Abdelhamid Chriette, Stéphane Caro. Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotors UAVs. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2019, 11 (2), pp.020909-1 -- 020909-12. ⟨10.1115/1.4042513⟩. ⟨hal-01970501⟩
  • Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot. IEEE Robotics and Automation Letters, IEEE 2019, 4 (2), pp.1029-1036. ⟨10.1109/lra.2019.2893611⟩. ⟨hal-01987856⟩
  • Sana Baklouti, Eric Courteille, Philippe Lemoine, Stéphane Caro. Vibration Reduction of Cable-Driven Parallel Robots through Elasto-dynamic Model-Based Control. Mechanism and Machine Theory, Elsevier, 2019, 139, pp.329-345. ⟨10.1016/j.mechmachtheory.2019.05.001⟩. ⟨hal-02124015⟩
  • Latifah Nurahmi, Stéphane Caro, Mochamad Solichin. A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator. Mechanism and Machine Theory, Elsevier, 2019, 134, pp.135-150. ⟨10.1016/j.mechmachtheory.2018.12.017⟩. ⟨hal-01966590⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator. Robotica, Cambridge University Press, 2019, 37 (7), pp.1240-1266. ⟨10.1017/S0263574718000826⟩. ⟨hal-01859984⟩
  • Guanglei Wu, Shaoping Bai, Stéphane Caro. A Transmission Quality Index for a Class of Four-limb Parallel Schönflies Motion Generators. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2018, 10 (5), pp.051014. ⟨10.1115/1.4040353⟩. ⟨hal-01860812⟩
  • Guangbo Hao, Haiyang Li, Abhilash Nayak, Stéphane Caro. Design of a Compliant Gripper With Multimode Jaws. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2018, 10 (3), ⟨10.1115/1.4039498⟩. ⟨hal-01757250⟩
  • Abhilash Nayak, Thomas Stigger, Manfred Husty, Philippe Wenger, Stéphane Caro. Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters. Computer Aided Geometric Design, Elsevier, 2018, 63, pp.122 - 134. ⟨10.1016/j.cagd.2018.05.003⟩. ⟨hal-01860789⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity. Mechanism and Machine Theory, Elsevier, 2018, 129, pp.293-315. ⟨10.1016/j.mechmachtheory.2018.08.001⟩. ⟨hal-01858955⟩
  • Sébastien Briot, Stéphane Caro, Coralie Germain. Design Procedure for a Fast and Accurate Parallel Manipulator. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2017, 9 (6), pp.061012. ⟨10.1115/1.4038009⟩. ⟨hal-01587975⟩
  • Sana Baklouti, Eric Courteille, Stéphane Caro, Mohamed Dkhil. Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2017, 9 (6), pp.1-14. ⟨10.1115/1.4038068⟩. ⟨hal-01616850⟩
  • Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Optimization of the robot and positioner motion in a redundant fiber placement workcell. Mechanism and Machine Theory, Elsevier, 2017, 114, pp.170 - 189. ⟨10.1016/j.mechmachtheory.2017.04.009⟩. ⟨hal-01692417⟩
  • Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro. Collision-free workspace of parallel mechanisms based on an interval analysis approach. Robotica, Cambridge University Press, 2017, 35 (8), pp.1747-1760. ⟨10.1017/S0263574716000497⟩. ⟨hal-01721328⟩
  • Semaan Amine, Ossama Mokhiamar, Stéphane Caro. Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2017, 9 (1), ⟨10.1115/1.4035188⟩. ⟨hal-01721206⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Operation modes and self-motions of the 2-RUU parallel manipulator. International Journal of Mechanisms and Robotic Systems, 2016, 3 (4), pp.280-296. ⟨10.1504/IJMRS.2016.085228⟩. ⟨hal-01721232⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin. Discrete reconfiguration planning for Cable-Driven Parallel Robots. Mechanism and Machine Theory, Elsevier, 2016, 100, pp.313-337. ⟨10.1016/j.mechmachtheory.2016.02.014⟩. ⟨hal-01400440⟩
  • Alexandre Goldsztejn, Stéphane Caro, Gilles Chabert. A Three-step Methodology for Dimensional Tolerance Synthesis of Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2016, 105, pp.213-234. ⟨10.1016/j.mechmachtheory.2016.06.013⟩. ⟨hal-01721237⟩
  • Shao Liu, Binbin Chen, Stéphane Caro, Sébastien Briot, Laurence Harewood, et al.. A cable linkage with remote centre of motion. Mechanism and Machine Theory, Elsevier, 2016, 105, pp.583-605. ⟨10.1016/j.mechmachtheory.2016.07.023⟩. ⟨hal-01355318⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger, Josef Schadlbauer, Manfred Husty. Reconfiguration analysis of a 4-RUU parallel manipulator. Mechanism and Machine Theory, Elsevier, 2016, ⟨10.1016/j.mechmachtheory.2015.09.004⟩. ⟨hal-01757269⟩
  • Latifah Nurahmi, Josef Schadlbauer, Stéphane Caro, Manfred Husty, Philippe Wenger. Kinematic Analysis of the 3-RPS Cube Parallel Manipulator. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2015, 7 (1), ⟨10.1115/1.4029305⟩. ⟨hal-01757334⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. Natural Frequency Computation of Parallel Robots. Journal of Computational and Nonlinear Dynamics, American Society of Mechanical Engineers (ASME), 2015, 10 (2), ⟨10.1115/1.4028573⟩. ⟨hal-01061512⟩
  • Yier Wu, Alexandr Klimchik, Stéphane Caro, Benoit Furet, Anatol Pashkevich. Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robotics and Computer-Integrated Manufacturing, Elsevier, 2015, 35, pp.151-168. ⟨10.1016/j.rcim.2015.03.007⟩. ⟨hal-01201694⟩
  • Alexandr Klimchik, Benoit Furet, Stéphane Caro, Anatol Pashkevich. Identification of the manipulator stiffness model parameters in industrial environment. Mechanism and Machine Theory, Elsevier, 2015, 90, pp.1-22. ⟨10.1016/j.mechmachtheory.2015.03.002⟩. ⟨hal-01201696⟩
  • Guanglei Wu, Stéphane Caro, Jiawei Wang. Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator. Mechanism and Machine Theory, Elsevier, 2015, 94, pp.119-131. ⟨10.1016/j.mechmachtheory.2015.07.012⟩. ⟨hal-01757286⟩
  • Mohammad-Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro. Determination of the Maximal Singularity-Free Workspace of 3-DOF Parallel Mechanisms with a Constructive Geometric Approach. Mechanism and Machine Theory, Elsevier, 2015, 84, pp.25 - 36. ⟨10.1016/j.mechmachtheory.2014.10.003⟩. ⟨hal-01084794⟩
  • Weijun Wang, Stéphane Caro, Fouad Bennis, Ricardo Soto, Broderick Crawford. Multi-objective Robust Optimization using a Post-optimality Sensitivity Analysis Technique: Application to a Wind Turbine Design. Journal of Mechanical Design, American Society of Mechanical Engineers, 2015, Journal of Mechanical Design, 137, pp.011403-1--011403-11. ⟨10.1115/1.4028755⟩. ⟨hal-01084715⟩
  • Alexandr Klimchik, Stéphane Caro, Anatol Pashkevich. Optimal pose selection for calibration of planar anthropomorphic manipulators. Precision Engineering, Elsevier, 2015, 40, pp.214-229. ⟨10.1016/j.precisioneng.2014.12.001⟩. ⟨hal-01204736⟩
  • Lennart Rubbert, Stéphane Caro, Jacques Gangloff, Pierre Renaud. Using Singularities of Parallel Manipulators for Enhancing the Rigid-body Replacement Design Method of Compliant Mechanisms. ASME Journal of Mechanical Design, 2014, 136, pp.051010-1-051010-9. ⟨10.1115/1.4026949⟩. ⟨hal-00971681⟩
  • Oscar Brito, Fouad Bennis, Stéphane Caro. Multiobjective optimization involving quadratic functions. SIAM Journal of Optimization, 2014, 2014, pp.1-11. ⟨10.1155/2014/406092⟩. ⟨hal-01081821⟩
  • Weijun Wang, Stéphane Caro, Bennis Fouad, Oscar Roberto Salinas Mejia. A Simplified Morphing Blade for Horizontal Axis Wind Turbines. Journal of Solar Energy Engineering, American Society of Mechanical Engineers, 2014, 136 (1), pp.011018-1-011018-8. ⟨10.1115/1.4025970⟩. ⟨hal-00913487v2⟩
  • Stéphane Caro, Damien Chablat, Alexandre Goldsztejn, Daisuke Ishii, Christophe Jermann. A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots. Artificial Intelligence, Elsevier, 2014, 211, pp.34--50. ⟨10.1016/j.artint.2014.02.001⟩. ⟨hal-00971348⟩
  • Guanglei Wu, Stéphane Caro, Shaoping Bai, Jørgen Kepler. Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator. Robotics and Autonomous Systems, Elsevier, 2014, 62, pp.1377 - 1386. ⟨10.1016/j.robot.2014.06.006⟩. ⟨hal-01084693⟩
  • Mikhael Tannous, Stéphane Caro, Alexandre Goldsztejn. Sensitivity Analysis of Parallel Manipulators Using an Interval Linearization Method. Mechanism and Machine Theory, Elsevier, 2014, 71, pp.93-114. ⟨10.1016/j.mechmachtheory.2013.09.004⟩. ⟨hal-00910915⟩
  • Philip Long, Wisama Khalil, Stéphane Caro. Kinematic and dynamic analysis of lower-mobility cooperative arms. Robotica, Cambridge University Press, 2014, pp.1 - 22. ⟨10.1017/S0263574714001039⟩. ⟨hal-01084563⟩
  • Xiuyun He, Xianwen Kong, Damien Chablat, Stéphane Caro, Guangbo Hao. Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes. Robotica, Cambridge University Press, 2014, 32 (7), pp.1171-1188. ⟨10.1017/S0263574713001197⟩. ⟨hal-01084545⟩
  • Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro. Determining the Maximal Singularity-free Circle or Sphere of Parallel Mechanisms Using Interval Analysis. Robotica, Cambridge University Press, 2014, pp.1 - 15. ⟨10.1017/S0263574714001271⟩. ⟨hal-01084688⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoit Furet, Anatol Pashkevich. Geometric and elastostatic calibration of robotic manipulator using partial pose measurements. Advanced Robotics, Taylor & Francis, 2014, 28, pp.1419 - 1429. ⟨10.1080/01691864.2014.955824⟩. ⟨hal-01084653⟩
  • Arnaud Hamon, Yannick Aoustin, Stéphane Caro. Two walking gaits for a planar bipedal robot equipped with a four-bar mechanism for the knee joint. Multibody System Dynamics, Springer Verlag, 2013, pp.1-25. ⟨10.1007/s11044-013-9382-7⟩. ⟨hal-00855905⟩
  • Josef Schadlbauer, Manfred Husty, Stéphane Caro, Philippe Wenger. Self-Motions of 3-RPS Manipulators. Frontiers of Mechanical Engineering, 2013, 8 (1), pp.62-69. ⟨10.1007/s11465-013-0366-3⟩. ⟨hal-00914024⟩
  • Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger. Singularity-free Design of the Translational Parallel Manipulator IRSBot-2. Mechanism and Machine Theory, Elsevier, 2013, 64, pp.262-285. ⟨10.1016/j.mechmachtheory.2013.02.005⟩. ⟨hal-00832557⟩
  • Alexandr Klimchik, Anatol Pashkevich, Yier Wu, Stéphane Caro, Benoît Furet. Design of Calibration Experiments for Identification of Manipulator Elastostatic Parameters. Journal of Mechanics Engineering and Automation, 2012, 2, pp.531-542. ⟨hal-00756888⟩
  • Guanglei Wu, Bai Shaoping, Kepler Jørgen A., Stéphane Caro. Error Modelling and Experimental Validation of a Planar 3-PPR Parallel Manipulator with Joint Clearances. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2012, 4 (4), pp.041011-1-8. ⟨10.1115/1.4007487⟩. ⟨hal-00832640⟩
  • Chao Chen, Thibault Gayral, Stéphane Caro, Damien Chablat, Guillaume Moroz, et al.. A Six-Dof Epicyclic-Parallel Manipulator. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2012, 4 (4), ⟨10.1115/1.4007489⟩. ⟨hal-00684803⟩
  • Claire Dumas, Aude Boudelier, Stéphane Caro, Sébastien Garnier, Mathieu Ritou, et al.. Développement d'une cellule robotisée de détourage des composites. Mechanics & Industry, EDP Sciences, 2012, 12 (6), pp.487-494. ⟨10.1051/meca/2011103⟩. ⟨hal-00862195⟩
  • Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Damien Chablat. Stiffness matrix of manipulators with passive joints: computational aspects. IEEE Transactions on Robotics, IEEE, 2012, 28 (4), pp.1-4. ⟨10.1109/TRO.2012.2187395⟩. ⟨hal-00670255⟩
  • Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément Gosselin. Singularity Conditions of 3T1R Parallel Manipulators with Identical Limb Structures. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2012, 4 (1), pp.1-11. ⟨10.1016/j.mechmachtheory.2013.09.004⟩. ⟨hal-00642238⟩
  • Augusto Oscar Brito, Bennis Fouad, Stéphane Caro. Multiobjective Engineering Design Optimization Problems: A Sensitivity Analysis Approach. Pesquisa Operacional, Sociedade Brasileira de Pesquisa Operacional, 2012, 32 (3), pp.ISSN 0101-7438. ⟨10.1590/S0101-74382012005000028⟩. ⟨hal-00832561⟩
  • Oscar Augusto, Bennis Fouad, Stéphane Caro. A New Method for Decision Making in Multi-Objective Optimization Problems. Pesquisa Operacional, Sociedade Brasileira de Pesquisa Operacional, 2012, 32 (3), pp.331-369. ⟨10.1590/S0101-74382012005000014⟩. ⟨hal-00914025⟩
  • Semaan Amine, M Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément M. Gosselin. Singularity Analysis of 3T2R Parallel Mechanisms using Grassmann-Cayley Algebra and Grassmann Line Geometry. Mechanism and Machine Theory, Elsevier, 2012, 52, pp.326-340. ⟨10.1016/j.mechmachtheory.2011.11.015⟩. ⟨hal-00833520⟩
  • Alexandr Klimchik, Yier Wu, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators. Applied Mechanics and Materials, Trans Tech Publications, 2012, 162, pp.161-170. ⟨10.4028/www.scientific.net/AMM.162.161⟩. ⟨hal-00756893⟩
  • Claire Dumas, Stéphane Caro, Sébastien Garnier, Benoît Furet. Joint Stiffness Identification of Six-revolute Industrial Serial Robots. Robotics and Computer-Integrated Manufacturing, Elsevier, 2011, 27 (4), pp.881-888. ⟨10.1016/j.rcim.2011.02.003⟩. ⟨hal-00632989⟩
  • Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément Gosselin. Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2011, 35 (5), pp.515-528. ⟨10.1139/tcsme-2011-0031⟩. ⟨hal-00684999⟩
  • Nicolas Binaud, Stéphane Caro, Philippe Wenger. Comparison of 3-RPR Planar Parallel Manipulators with regard to their Dexterity and Sensitivity to Geometric Uncertainties. Meccanica, Springer Verlag, 2011, 46 (14), pp.75-88. ⟨10.1007/s11012-010-9390-0⟩. ⟨hal-00833524⟩
  • Semaan Amine, Stéphane Caro, Philippe Wenger, Daniel Kanaan. Singularity Analysis of the H4 Robot using Grassmann-Cayley Algebra. Robotica, Cambridge University Press, 2011, pp.1-10. ⟨10.1017/S0263574711001330⟩. ⟨hal-00642230⟩
  • Claire Dumas, Stéphane Caro, Cherif Mehdi, Sébastien Garnier, Benoît Furet. Joint Stiffness Identification of Industrial Serial Robots. Robotica, Cambridge University Press, 2011, pp.1-20. ⟨10.1017/S0263574711000932⟩. ⟨hal-00633095⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide. Mechanism and Machine Theory, Elsevier, 2010, 45 (8), pp.1125-1141. ⟨10.1016/j.mechmachtheory.2010.03.008⟩. ⟨hal-00553166⟩
  • Stéphane Caro, Waseem Khan, Damiano Pasini, Jorge Angeles. The Rule-based Conceptual Design of the Architecture of Serial Schonflies-motion Generators. Mechanism and Machine Theory, Elsevier, 2010, 45 (2), pp.251-260. ⟨10.1016/j.mechmachtheory.2009.09.002⟩. ⟨hal-00464305⟩
  • Daniel Kanaan, Philippe Wenger, Stéphane Caro, Damien Chablat. Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra. IEEE Transactions on Robotics, IEEE, 2009, 25 (5), pp.995-1004. ⟨10.1109/TRO.2009.2017132⟩. ⟨hal-00425361⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2009, pp.1-19. ⟨hal-00425337⟩
  • Nicolas Binaud, Stéphane Caro, Philippe Wenger. Sensitivity Comparison of Planar Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2009, 45, pp.1477-1490. ⟨10.1007/978-3-642-01947-0_10⟩. ⟨hal-00833527⟩
  • Stéphane Caro, Nicolas Binaud, Philippe Wenger. Sensitivity analysis of 3-RPR planar parallel manipulators. Journal of Mechanical Design, American Society of Mechanical Engineers, 2009, 131, pp.121005-1--121005-13. ⟨10.1115/1.4000216⟩. ⟨hal-00456135v2⟩
  • Damien Chablat, Stéphane Caro, Emilie Bouyer. The Optimization of a Novel Prismatic Drive. Problems of Mechanics, 2007, 26 (1), pp.32-42. ⟨hal-00144820⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis. Robustness Study of Generic and Non-Generic 3R Positioning Manipulators. Journal IFToMM Problems of Applied Mechanics, 2006, 22 (1), pp.9-23. ⟨hal-00463711⟩
  • Jorge Angeles, Stéphane Caro, Waseem Khan, Alexis Morozov. Kinetostatic design of an innovative Schoenflies-motion generator. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, SAGE Publications, 2006, 220 (C7), pp.935-944. ⟨10.1243/09544062JMES258⟩. ⟨hal-00463717⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat. Sensitivity Analysis of the Orthoglide: A 3-DOF Translational Parallel Kinematic Machine. Journal of Mechanical Design, American Society of Mechanical Engineers, 2006, 128, pp.392-402. ⟨10.1115/1.2166852⟩. ⟨hal-00169005v2⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Tolerance Synthesis of Mechanisms: a Robust Design Approach. Journal of Mechanical Design, American Society of Mechanical Engineers, 2005, 127, pp.86-94. ⟨10.1115/1.1825047⟩. ⟨hal-00463707⟩

Conference papers88 documents

  • Julian Erskine, Abdelhamid Chriette, Stéphane Caro. Control and Configuration Planning of an Aerial Cable Towed System. The 2019 IEEE International Conference on Robotics and Automation (ICRA~2019), May 2019, Montreal, Canada. ⟨hal-01995301⟩
  • Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot. ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.1-8. ⟨hal-01995307⟩
  • Zane Zake, Stéphane Caro, Adolfo Suarez Roos, François Chaumette, Nicolò Pedemonte. Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots. CableCon 2019 - Fourth International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.1-12, ⟨10.1007/978-3-030-20751-9_7⟩. ⟨hal-02127451⟩
  • Divia Shah, Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoit Courtemanche. Computer-aided design and optimization of a redundant robotic system for automated fiber placement process. AIP Conference Proceedings, Jul 2018, Surabaya, Indonesia. ⟨10.1063/1.5046258⟩. ⟨hal-01980737⟩
  • Antoine Martin, Stéphane Caro, Philippe Cardou. Design of a Cable-Driven Parallel Robot with Grasping Device. The 28th CIRP Design Conference, May 2018, Nantes, France. pp.290-295, ⟨10.1016/j.procir.2018.03.105⟩. ⟨hal-01863732⟩
  • Julian Czapalay Erskine, Abdelhamid Chriette, Stéphane Caro. Wrench Capability Analysis of Aerial Cable Towed Systems. ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Aug 2018, Québec, Canada. ⟨hal-01777623⟩
  • Jiuchun Gao, Anatol Pashkevich, Marco Cicellini, Stéphane Caro. Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell. The 15th International Conference of Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal. ⟨hal-01860838⟩
  • Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots. The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨hal-01757510⟩
  • Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots. IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. ⟨10.1109/ICRA.2018.8461199⟩. ⟨hal-01757793⟩
  • Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau. Control Solution for a Cable-Driven Parallel Robot with Highly Variable Payload. ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. pp.1429-1436, ⟨10.1115/DETC2018-85304⟩. ⟨hal-01863730⟩
  • Thomas Stigger, Abhilash Nayak, Stéphane Caro, Philippe Wenger, Martin Pfurner, et al.. Algebraic Analysis of a 3-RUU Parallel Manipulator. The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨hal-01757514⟩
  • Saman Lessanibahri, Philippe Cardou, Stéphane Caro. Parasitic Inclinations in Cable-Driven Parallel Robots using Cable Loops. The 28th CIRP Design Conference, May 2018, Nantes, France. pp.296-301, ⟨10.1016/j.procir.2018.02.013⟩. ⟨hal-01863733⟩
  • Sana Baklouti, Stéphane Caro, Eric Courteille. Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757535⟩
  • Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots. The ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86182⟩. ⟨hal-01863727⟩
  • Etienne Picard, Stéphane Caro, Fabien Claveau, Franck Plestan. Pulleys and Force Sensors Influence on Payload Estimation of Cable-Driven Parallel Robots. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594171⟩. ⟨hal-01862015⟩
  • Franklin Okoli, Yuchuan Lang, Olivier Kermorgant, Stéphane Caro. Cable-Driven Parallel Robot simulation using Gazebo and ROS. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757531⟩
  • Alexandre Goldsztejn, Stéphane Caro, Gilles Chabert. A parametric Kantorovich theorem with application to tolerance synthesis. The 18th International Symposium on Scientific Computing, Computer Arithmetic, and Verified Numerical Computations, Sep 2018, Tokyo, Japan. ⟨hal-01863731⟩
  • Saman Lessanibahri, Philippe Cardou, Stéphane Caro. Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane. ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86173⟩. ⟨hal-01863728⟩
  • Jiuchun Gao, Anatol Pashkevich, Marco Cicellini, Stéphane Caro. Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels. The 12th IFAC Symposium On Robot Control (SYROCO 2018), IFAC, Aug 2018, Budapest, Hungary. ⟨hal-01862018⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. A Dual Reconfigurable 4-rRUU Parallel Manipulator. The 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨hal-01757553⟩
  • Guanglei Wu, Stéphane Caro. Torsional Stability of a U–joint based Parallel Wrist Mechanism Featuring Infinite Torsion. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757541⟩
  • Antoine Martin, Stéphane Caro, Philippe Cardou. Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot. The Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Aug 2017, Québec, Canada. ⟨hal-01757799⟩
  • Saman Lessanibahri, Marc Gouttefarde, Stéphane Caro, Philippe Cardou. Twist Feasibility Analysis of Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139, ⟨10.1007/978-3-319-61431-1_12⟩. ⟨hal-01757798⟩
  • Divya Shah, Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoît Courtemanche. Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process. The 3rd International Conference on Mechanical Engineering (ICOME 2017), Oct 2017, Surabaya, Indonesia. ⟨hal-01757796⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator. 7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨hal-01757936⟩
  • Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Optimal Trajectories Generation in Robotic Fiber Placement Systems. The 4th International Conference on Manufacturing and Industrial Technologies, May 2017, Lisbon, Portugal. ⟨10.1088/1757-899X/212/1/012009⟩. ⟨hal-01757920⟩
  • Guanglei Wu, Shaoping Bai, Stéphane Caro. Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms. The 7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨hal-01757946⟩
  • Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro. Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots. The Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Aug 2017, Québec, Canada. ⟨hal-01757800⟩
  • Abhilash Nayak, Haiyang Li, Guangbo Hao, Stéphane Caro. A Reconfigurable Compliant Four-Bar Mechanism with Multiple Operation Modes. ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2017), Aug 2017, Cleveland, United States. ⟨10.1115/DETC2017-67441⟩. ⟨hal-01757797⟩
  • Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Calibration of Industrial Robots with Pneumatic Gravity Compensators. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2017, Munich, Germany. ⟨10.1109/AIM.2017.8014031⟩. ⟨hal-01757907⟩
  • Shao Liu, Binbin Chen, Stéphane Caro, Sébastien Briot, Chao Chen. Dual-Triangular Remote Centre of Motion Mechanism With Cable Transmission. 4th Joint International Conference on Multibody System Dynamics (IMSD2016), May 2016, Montréal, Canada. ⟨hal-01285928⟩
  • Damien Chablat, Ranjan Jha, Stéphane Caro. A Framework for the Control of a Parallel Manipulator with Several Actuation Modes. 14th International Conference on Industrial Informatics , Jul 2016, Poitiers, France. ⟨hal-01313376⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin. A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620, ⟨10.1109/ICRA.2015.7139404⟩. ⟨lirmm-01221409⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde. Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible Workspace. CASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105, ⟨10.1109/CoASE.2015.7294046⟩. ⟨hal-01941620⟩
  • Stéphane Caro, Damien Chablat, Philippe Lemoine, Philippe Wenger. Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis. International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨hal-01143102⟩
  • David Guérin, Stéphane Caro, Sébastien Garnier, Alexis Girin. Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail. IEEE/ASME International Conference on Advanced Intelligent Mechatronics , Jul 2014, Besançon, France. ⟨10.1109/AIM.2014.6878332⟩. ⟨hal-01693092⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩. ⟨lirmm-01221407⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures. ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩. ⟨lirmm-01221401⟩
  • Ana Lucia Cruz Ruiz, Stéphane Caro, Philippe Cardou, François Guay. ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software. The Second International Conference on Cable-Driven Parallel Robots (CableCon 2014), Aug 2014, Duisburg, Germany. ⟨hal-01941633⟩
  • Davide Corradi, Stéphane Caro, Damien Chablat, Philippe Cardou. Assembly Conditions of Parallel Manipulators Considering Geometric Errors, Joint Clearances, Link Flexibility and Joint Elasticity. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. ⟨10.1109/ICRA.2014.6907450⟩. ⟨hal-01941644⟩
  • Fabrice Vienne, Stéphane Caro, Lara Désiré, Jean-Michel Auberlet, Florence Rosey, et al.. Driving simulator: an innovative tool to test new road infrastructures. TRA - Transport Research Arena, Apr 2014, Paris, France. 10p. ⟨hal-01072739⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoît Furet, Anatol Pashkevich. Advanced robot calibration using partial pose measurements. 18th International Conference on Methods and Models in Automation and Robotics (MMAR 2013), Aug 2013, Międzyzdroje, Poland. pp.264-269. ⟨hal-00909539⟩
  • Alexandr Klimchik, Stéphane Caro, Anatol Pashkevich. Practical identifiability of the manipulator link stiffness parameters. ASME 2013 International Mechanical Engineering Congress & Exposition, Nov 2013, San Diego, CA, United States. pp.1-10. ⟨hal-00909548⟩
  • Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration. The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.832-837. ⟨hal-00909513⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Claire Dumas, Benoît Furet, et al.. Modelling of the gravity compensators in robotic manufacturing cells. The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.820-825. ⟨hal-00909457⟩
  • Stéphane Caro, Claire Dumas, Sébastien Garnier, Benoît Furet. Workpiece Placement Optimization in Robotic-Based Manufacturing . IFAC 2013, Jun 2013, Saint-Pétersbourg, Russia. ⟨10.3182/20130619-3-RU-3018.00211⟩. ⟨hal-01693102⟩
  • Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger. Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory. ASME 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⟩. ⟨hal-00818100⟩
  • François Guay, Philippe Cardou, Ana Lucia Cruz Ruiz, Stéphane Caro. Measuring How Well a Structure Supports Varying External Wrenches. The Second Conference on Mechanisms, Transmissions and Applications (MeTrApp 2013), Oct 2013, Bilbao, Spain. ⟨hal-01941645⟩
  • Stéphane Caro, Claire Dumas, Sébastien Garnier, Benoît Furet. Workpiece Placement Optimization for Machining Operations with a KUKA KR270-2 Robot. 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, France. ⟨10.1109/ICRA.2013.6630982⟩. ⟨hal-01726372⟩
  • Semaan Amine, Latifah Nurahmi, Philippe Wenger, Stéphane Caro. Conceptual design of Schoenflies motion generators based on the wrench graph. ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. ⟨10.1115/DETC2013-13084⟩. ⟨hal-00830400⟩
  • Ricardo Soto, Stéphane Caro, Broderick Crawford, Eric Monfroy. Robust solutions for a robotic manipulator optimization problem. The 5th International Work-Conference on the Interplay Between Natural and Artificial Computation, Jun 2013, Mallorca, Spain. pp.451-460, ⟨10.1007/978-3-642-38622-0_47⟩. ⟨hal-00875554⟩
  • Alexandr Klimchik, Yier Wu, Claire Dumas, Stéphane Caro, Benoît Furet, et al.. Identification of geometrical and elastostatic parameters of heavy industrial robots. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany. pp.3707-3714, ⟨10.1109/ICRA.2013.6631098⟩. ⟨hal-00909578⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. Constraint Singularity-Free Design of the IRSBot-2. Advances in Robot Kinematics, Jun 2012, Innsbruck, Austria. ⟨hal-00676851⟩
  • Cornelius Barnard, Sébastien Briot, Stéphane Caro. Trajectory Generation for High Speed Pick-and-Place Robots. ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Jul 2012, Nantes, France. ⟨10.1115/ESDA2012-82197⟩. ⟨hal-00668246⟩
  • Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. OPTIMALITY CRITERIA FOR MEASUREMENT POSES SELECTION IN CALIBRATION OF ROBOT STIFFNESS PARAMETERS. Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. pp.1-10, ⟨10.1115/ESDA2012-82213⟩. ⟨hal-00759874⟩
  • Claire Dumas, Stéphane Caro, Sébastien Garnier, Benoît Furet. Workpiece Placement Optimization of Six-Revolute Industrial Serial Robots for Machining Operations. ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. ⟨10.1115/ESDA2012-82559⟩. ⟨hal-01693112⟩
  • Philip Long, Stéphane Caro, Wisama Khalil. Control of a Lower Mobility Dual Arm System. 10th IFAC Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.307-312, ⟨10.3182/20120905-3-HR-2030.00120⟩. ⟨hal-00786901⟩
  • Philip Long, Stéphane Caro, Wisama Khalil. Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory. 9th International Conference on Informatics in Control Automation and Robotics, Jul 2012, Rome, Italy. pp.208-285. ⟨hal-00786897⟩
  • Stéphane Caro, Philippe Wenger, Damien Chablat. Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot. ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩. ⟨hal-00692371⟩
  • Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Damien Chablat. Stiffness Modeling of Robotic-Manipulators Under Auxiliary Loadings. The ASME 2012 International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), Aug 2012, Chicago, United States. ⟨hal-00693154⟩
  • Stéphane Caro, Damien Chablat, Chao Chen. Elastostatic modeling and shape optimization of a 6-dof haptic interface device. The 11th Biennial Conference on Engineering Systems Design and Analysis, ASME/ESDA 2012, Jul 2012, France. pp.1-10. ⟨hal-00685896⟩
  • Stéphane Caro, Damien Chablat, Alexandre Goldsztejn, Daisuke Ishii, Christophe Jermann. A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots. 18th international conference on Principles and Practice of Constraint Programming, 2012, Québec City, Canada. pp.867-882. ⟨hal-02005023⟩
  • Philip Long, Wisama Khalil, Stéphane Caro. Control of a Lower Mobility Dual Arm System. 10th IFAC Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.307-312, ⟨10.3182/20120905-3-HR-2030.00120⟩. ⟨hal-02263909⟩
  • Coralie Germain, Sébastien Briot, Victor Glazunov, Stéphane Caro, Philippe Wenger. IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations. ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩. ⟨hal-00590082⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Anatol Pashkevich. Design of Experiments for Calibration of Planar Anthropomorphic Manipulators. Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on, Jul 2011, Budapest, Hungary. pp.576 - 581, ⟨10.1109/AIM.2011.6027017⟩. ⟨hal-00759855⟩
  • Claire Dumas, Stéphane Caro, Sébastien Garnier, Benoît Furet. Développement d’une méthodologie pour l’identification des raideurs articulaires des robots sériels afin d’optimiser leur exploitation en usinage. Roadef 2011, Mar 2011, Saint-Etienne, France. ⟨hal-01693124⟩
  • Anatol Pashkevich, Alexandr Klimchik, Stéphane Caro, Damien Chablat. Cartesian stiffness matrix of manipulators with passive joints: analytical approach. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1-8, ⟨10.1109/IROS.2011.6094419⟩. ⟨hal-00610306⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide. 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France. ⟨hal-00590041⟩
  • Semaan Amine, Mehdi Tale-Masouleh, Stéphane Caro, Philippe Wenger, Clément M. Gosselin. Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra. The 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Jun 2011, Montréal, Canada. pp.1-12. ⟨hal-00642267⟩
  • Nicolas Berger, Ricardo Soto, Alexandre Goldsztejn, Stéphane Caro, Philippe Cardou. Finding the Maximal Pose Error in Robotic Mechanical Systems Using Constraint Programming. The Twenty Third International Conference on Industrial, Engineering & Other Applications of Applied Intelligent Systems (IEA-AIE 2010), Jun 2010, Cordoba, Spain. ⟨hal-00462935⟩
  • Damien Chablat, Stéphane Caro, Raza Ur-Rehman, Philippe Wenger. Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach. 34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8. ⟨hal-00545466⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators. 20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩. ⟨hal-00464101⟩
  • Semaan Amine, Daniel Kanaan, Stéphane Caro, Philippe Wenger. Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle. Advances in Robot Kinematics, Jun 2010, Piran-Portoroz, Slovenia. pp.273-282. ⟨hal-00642259⟩
  • Nicolas Binaud, Philippe Cardou, Stéphane Caro, Philippe Wenger. The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances. ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2010, Montreal, Canada. ⟨10.1115/DETC2010-28635⟩. ⟨hal-01941777⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis. Troisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8. ⟨hal-00372622⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analyses of the Orthoglide 5-axis. Congress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6. ⟨hal-00322702⟩
  • Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger. SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra. Advances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10. ⟨hal-00322730⟩
  • Novona Rakotomanga, Damien Chablat, Stéphane Caro. Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation. Advances in Robot Kinematics, Jun 2008, France. pp.1-10. ⟨hal-00322760⟩
  • Damien Chablat, Stéphane Caro. The Kinetostatic Optimization of a Novel Prismatic Drive. 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6. ⟨hal-00164982⟩
  • Emilie Bouyer, Stéphane Caro, Damien Chablat, Jorge Angeles. The Multiobjective Optimization of a Prismatic Drive. ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Sep 2007, Las Vegas, United States. pp.1-9, ⟨10.1115/DETC2007-34795⟩. ⟨hal-00144879⟩
  • Waseem Khan, Stéphane Caro, Jorge Angeles, Damiano Pasini. A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures. INTERNATIONAL CONFERENCE ON ENGINEERING DESIGN, ICED'07, Aug 2007, Paris, France. pp.1-11. ⟨hal-00465559⟩
  • Julien Bourrelle, Chao Chen, Stéphane Caro, Jorge Angeles. Graphical User Interface to Solve the Burmester Problem. IFToMM World Congress, Jun 2007, Besançon, France. pp.1-8. ⟨hal-00465550⟩
  • Waseem Khan, Stéphane Caro, Damiano Pasini, Jorge Angeles. Complexity-Based Rules for the Conceptual Design of Robotic Architectures. 10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.1-10. ⟨hal-00465527⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Comparison of Robustness Indices and Introduction of a Tolerance Synthesis Method for Mechanisms. Canadian Congress of Applied Mechanics, May 2005, Montreal, Canada. pp.1-2. ⟨hal-00465501⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat. Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine. ASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩. ⟨hal-00170102⟩
  • Damien Chablat, Philippe Wenger, Stéphane Caro, Jorge Angeles. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators. ASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩. ⟨hal-00168513⟩
  • Damien Chablat, Stéphane Caro, Philippe Wenger, Jorge Angeles. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators. 2002, Clermont-Ferrand, France. pp.1-10. ⟨hal-00145264⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Etat de l'art de la Conception Robuste de Mécanismes. Journée AIP-PRIMECA, Jan 2002, Cachan, France. pp.1-10. ⟨hal-00465473⟩

Book sections19 documents

  • Nicolò Pedemonte, Tahir Rasheed, David Marquez-Gamez, Philip Long, Étienne Hocquard, et al.. FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics. Advances in Robotics Research: From Lab to Market, 132, Springer, pp.141-163, 2020, Springer Tracts in Advanced Robotics 978-3-030-22327-4. ⟨10.1007/978-3-030-22327-4_8⟩. ⟨hal-02296120⟩
  • Sana Baklouti, Stéphane Caro, Eric Courteille. Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots. Gosselin C.; Cardou P.; Bruckmann T.; Pott A. Cable-Driven Parallel Robots, 53, pp.37-49, 2018, 978-3-319-61431-1. ⟨10.1007/978-3-319-61431-1_4⟩. ⟨hal-01758178⟩
  • Lorenzo Gagliardini, Marc Gouttefarde, Stéphane Caro. Design of Reconfigurable Cable-Driven Parallel Robots. E Ottaviano; A Pelliccio; V Gattulli. Mechatronics for Cultural Heritage and Civil Engineering, 92 (92), pp.85-113, 2018, 978-3-319-68646-2. ⟨10.1007/978-3-319-68646-2_4⟩. ⟨hal-01758141⟩
  • Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process. Wenger P.; Flores P. New Trends in Mechanism and Machine Science. , 43, Springer, pp.243-252, 2017, Mechanisms and Machine Science, 9783319441559. ⟨10.1007/978-3-319-44156-6_25⟩. ⟨hal-01692533⟩
  • Angelos Platis, Tahir Rasheed, Philippe Cardou, Stéphane Caro. Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot. Lenarcic J.; Merlet JP. Advances in Robot Kinematics 2016, 4, pp.321-330, 2017, Springer Proceedings in Advanced Robotics., ⟨10.1007/978-3-319-56802-7_34⟩. ⟨hal-01758077⟩
  • Abhilash Nayak, Latifah Nurahmi, Philippe Wenger, Stéphane Caro. Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free Circle. New 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⟩. ⟨hal-01758006⟩
  • Lorenzo Gagliardini, Marc Gouttefarde, Stéphane Caro. Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots. J Lenarčič; J.P Merlet. Advances in Robot Kinematics 2016, 4, pp.361-370, 2017, Springer Proceedings in Advanced Robotics, 978-3-319-56802-7. ⟨10.1007/978-3-319-56802-7_38⟩. ⟨hal-01758038⟩
  • Ana Lucia Cruz Ruiz, Stéphane Caro, Philippe Cardou, François Guay. ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software. Cable-Driven Parallel Robots, Mechanisms and Machine Science, 32, Springer, pp.293-305, 2015, Mechanisms and Machine Science, ⟨10.1007/978-3-319-09489-2_21⟩. ⟨hal-01941785⟩
  • Stéphane Caro, Damien Chablat, Philippe Wenger, Xianwen Kong. Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes. New Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩. ⟨hal-01592330⟩
  • Alexandr Klimchik, Stéphane Caro, Yier Wu, Damien Chablat, Benoît Furet, et al.. Stiffness modeling of robotic manipulator with gravity compensator. Thomas F.; Perez Gracia A. Mechanisms and Machine Science, 15, Springer, Dordrecht, pp.161-168, 2014, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_21⟩. ⟨hal-00909555⟩
  • Alexandr Klimchik, David Daney, Stéphane Caro, Anatol Pashkevich. Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators. Lenarčič, Jadran and Khatib, Oussama. Advances in Robot Kinematics, Springer International Publishing, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_28⟩. ⟨http://dx.doi.org/10.1007/978-3-319-06698-1_28⟩. ⟨hal-01004166⟩
  • François Guay, Philippe Cardou, Ana Lucia Cruz Ruiz, Stéphane Caro. Measuring How Well a Structure Supports Varying External Wrenches. New Advances in Mechanisms, Transmissions and Applications Mechanisms and Machine Science, 17, pp.385-392, 2014, ⟨10.1007/978-94-007-7485-8_47⟩. ⟨hal-01941795⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoit Furet, Anatol Pashkevich. Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model. Marco Ceccarelli; Victor A. Glazunov. Advances on Theory and Practice of Robots and Manipulators, 22, Springer, pp.73-81, 2014, Mechanisms and Machine Science, 978-3-319-07057-5. ⟨10.1007/978-3-319-07058-2_9⟩. ⟨hal-02263907⟩
  • Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoît Furet, Anatol Pashkevich. Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model. Advances on Theory and Practice of Robots and Manipulators, Springer, pp.73-81, 2014, ⟨10.1007/978-3-319-07058-2_9⟩. ⟨hal-01066965⟩
  • Alexandr Klimchik, Anatol Pashkevich, Yier Wu, Benoît Furet, Stéphane Caro. Optimization of measurement configurations for geometrical calibration of industrial robot. C.-Y. Su, S. Rakheja, H. Liu. Intelligent Robotics and Applications, © Springer-Verlag Berlin Heidelberg 2012, pp.132-143, 2012, Lecture Notes in Computer Science, 978-3-642-33508-2; 978-3-642-33509-9. ⟨10.1007/978-3-642-33509-9_13⟩. ⟨hal-00756900⟩
  • Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Industry-oriented Performance Measures for Design of Robot Calibration Experiment. F. Viadero and M. Ceccarelli (. New Trends in Mechanism and Machine Science, © Springer Science + Business Media Dordrecht 2013, pp.519-527, 2012, Mechanisms and Machine Science, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3 55⟩. ⟨hal-00756899⟩
  • Anatol Pashkevich, Alexandr Klimchik, Stéphane Caro, Damien Chablat. Stiffness modelling of parallelogram-based parallel manipulators. Pisla D., Ceccarelli M., Husty M., Corves B. New Trends in Mechanism Science. Mechanisms and Machine Science, 5, Springer, Dordrecht, pp.675-682, 2010, 978-90-481-9688-3. ⟨hal-00545384⟩
  • Stéphane Caro, Guillaume Moroz, Thibault Gayral, Damien Chablat, Chao Chen. Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases. Angeles J., Boulet B., Clark J.J., Kövecses J., Siddiqi K. Brain, Body and Machine. Advances in Intelligent and Soft Computing, 83, pp.341-352, 2010, 978-3-642-16258-9. ⟨10.1007/978-3-642-16259-6_26⟩. ⟨hal-00545747⟩
  • Stéphane Caro, Damien Chablat, Philippe Wenger, Jorge Angeles. The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators. Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩. ⟨hal-00463599⟩

Directions of work or proceedings1 document

  • Ricardo Soto, Juan Gómez-Pulido, Stéphane Caro, José Lanza-Gutiérrez. Data Science and AI-Based Optimization in Scientific Programming. Scientific Programming, 2019, pp.1-3, 2019, ⟨10.1155/2019/7154765⟩. ⟨hal-01976844⟩

Patents1 document

  • Sébastien Briot, Stéphane Caro, Coralie Germain. Robot à Deux Degrés de Liberté Présentant Deux Chaînes Cinématiques dont la Raideur en Flexion est Maximisée. France, N° de brevet: FR 2967603. 2012. 〈hal-00697488〉

Reports4 documents

  • Stéphane Caro, Anatol Pashkevich, Gabriel Abba. Robot comparison based on local and global indices proposed and related to FSW welding and machining. [Research Report] Agence Nationale de la Recherche. 2014. ⟨hal-01092065⟩
  • Alexandr Klimchik, Anatol Pashkevich, Sébastien Garnier, Stéphane Caro, François Leonard, et al.. Simulation results using a robot with flexibilities for machining and welding. [Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014. ⟨hal-01092142⟩
  • Stéphane Caro. Optimal task placement and redundancy management. [Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014. ⟨hal-01092161⟩
  • Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro. Model of dynamic interactions. [Research Report] ANR‐10‐SEGI‐003‐LI1.4, Agence Nationale de la Recherche. 2013. ⟨hal-01092182⟩

Theses1 document

  • Stéphane Caro. Conception Robuste de Mécanismes. Automatique / Robotique. Ecole Centrale de Nantes (ECN), 2004. Français. ⟨tel-00078374⟩