1 citations · 1 across the 6 of their papers we have counts for
6 papers
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…
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
Alexandre Le, Guillaume Rance, Fabrice Rouillier +1
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three…
On Isolating Roots in a Multiple Field Extension
Christina Katsamaki, Fabrice Rouillier
We address univariate root isolation when the polynomial's coefficients are in a multiple field extension. We consider a polynomial , where is a multiple algebraic…
Improved algorithm for computing separating linear forms for bivariate systems
Yacine Bouzidi, Sylvain Lazard, Guillaume Moroz +2
We address the problem of computing a linear separating form of a system of two bivariate polynomials with integer coefficients, that is a linear combination of the variables that…
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
Damien Chablat, Ranjan Jha, Fabrice Rouillier +1
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a…
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Montserrat Manubens, Guillaume Moroz, Damien Chablat +2
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possibl…