39 citations · 92 across the 20 of their papers we have counts for
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An algebraic method to check the singularity-free paths for parallel robots
Ranjan Jha, Damien Chablat, Fabrice Rouillier +1
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the…
Workspace and Singularity analysis of a Delta like family robot
R. Jha, Damien Chablat, Fabrice Rouillier +1
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysi…
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…
Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace
Damien Chablat, Guillaume Moroz, Vigen Arakelian +2
This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-…
Uniqueness domains and non singular assembly mode changing trajectories
Damien Chablat, Guillaume Moroz, Philippe Wenger
Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular config…