305 citations · 2.1k across the 178 of their papers we have counts for
19 papers · 1 filter
Nonlinear Effects in Stiffness Modeling of Robotic Manipulators
Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements…
Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case
Liang Ma, Wei Zhang, Damien Chablat +2
Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropr…
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations
Anatoly Pashkevich, Damien Chablat, Philippe Wenger +1
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations…
On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators
Damien Chablat, Philippe Wenger
It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chab…
Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra
Daniel Kanaan, Philippe Wenger, Stéphane Caro +1
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving pla…
Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis
Raza Ur-Rehman, Stéphane Caro, Damien Chablat +1
This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path wit…