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Asymptotic singularities of planar parallel 3-RPR manipulators
We study the limits of singularities of planar parallel 3-RPR manipulators as the lengths of their legs tend to infinity, paying special attention to the presence of... -
Perturbation of symmetric 3-RPR manipulators and asymptotic singularities
International audience -
A CONTRIBUTION FOR A SYNTHESIS OF PLAN AND SPATIAL MECHANISMS AND A PARALLEL ...
The traditional techniques of synthesis of mechanisms are still limited from application and performances point of view. The experiment of the designer still the... -
From lines to dynamics of parallel robots
This thesis presents novel methods for modeling, tracking and control of parallel robots by means of lines. A parallel robot is composed of several closed-loop... -
Contribution to a generic model for visual servoing of parallel robots using ...
Parallel robots have good performances in terms of ability to support loads, rigidity and rapidity. However, their control and modelling are complex due to the... -
Certified calibration of parallel cable-driven robots
The main objective of this thesis is to propose new methods for the calibration of a large scale cable-driven robot. The principal method to improve the global... -
Calibration of an active space telescope
A new parallel robotic architecture has previously been developed for an active space telescope. The telescope needs to be calibrated in order to improve its optical... -
Nonsingular change of assembly mode without any cusp
International audience
