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cs.RO2026
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
Luc Baron, Damien Chablat
This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. Rather than relying on Jacobian null-space projections, the method se…
cs.RO2025
MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results…
cs.RO2024
On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
Alexandre Lê, Guillaume Rance, Fabrice Rouillier +1
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such m…