Kinematics

We provide some sets of algebraic tools for studying kinematics problems for parallel and serial manipulators. This activity is mainly directed by the REV team at LS2N (CNRS – Nantes – France).

orthoglide_5_axes_chablat

Related publications :

 

  • [PDF] [DOI] D. Chablat, G. Moroz, F. Rouillier, and P. Wenger, “Using Maple to analyse parallel robots,” in Maple in Mathematics Education and Research, J. Gerhard and I. Kotsireas, Eds., Springer, Cham, 2020, pp. 50-64.
    [Bibtex] 
    @incollection{chablat:hal-02289699,
TITLE = {{Using Maple to analyse parallel robots}},
AUTHOR = {Chablat, Damien and Moroz, Guillaume and Rouillier, Fabrice and Wenger, Philippe},
URL = {https://hal.archives-ouvertes.fr/hal-02289699},
BOOKTITLE = {{Maple in Mathematics Education and Research}},
EDITOR = {J{\"u}rgen Gerhard and Ilias Kotsireas},
PUBLISHER = {{Springer, Cham}},
SERIES = {Maple in Mathematics Education and Research},
PAGES = {50-64},
YEAR = {2020},
MONTH = Feb,
DOI = {10.1007/978-3-030-41258-6\_4},
PDF = {https://hal.archives-ouvertes.fr/hal-02289699/file/2019_Maple_Conference.pdf},
HAL_ID = {hal-02289699},
HAL_VERSION = {v1},
}
  • [PDF] [DOI] R. Jha, D. Chablat, L. Baron, F. Rouillier, and G. Moroz, “Workspace, Joint space and Singularities of a family of Delta-Like Robot,” Mechanism and Machine Theory, vol. 127, pp. 73-95, 2018.
    [Bibtex] 
    @article{jha:hal-01796066,
TITLE = {{Workspace, Joint space and Singularities of a family of Delta-Like Robot}},
AUTHOR = {Jha, Ranjan and Chablat, Damien and Baron, Luc and Rouillier, Fabrice and Moroz, Guillaume},
URL = {https://hal.archives-ouvertes.fr/hal-01796066},
JOURNAL = {{Mechanism and Machine Theory}},
PUBLISHER = {{Elsevier}},
VOLUME = {127},
PAGES = {73-95},
YEAR = {2018},
MONTH = Sep,
DOI = {10.1016/j.mechmachtheory.2018.05.004},
KEYWORDS = {Parallel robot ; Groebner basis ; Cylindrical algebraic decomposition ; Delta-like robot ; Workspace ; Singularities},
PDF = {https://hal.archives-ouvertes.fr/hal-01796066/file/MMT_Delta_Like_Robot.pdf},
HAL_ID = {hal-01796066},
HAL_VERSION = {v1},
}
  • [PDF] R. Jha, D. Chablat, F. Rouillier, and G. Moroz, “Influence of the trajectory planning on the accuracy of the orthoglide 5-axis,” in ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), Charlotte, NC, United States, 2016.
    [Bibtex] 
    @inproceedings{jha:hal-01309190,
TITLE = {{Influence of the trajectory planning on the accuracy of the orthoglide 5-axis}},
AUTHOR = {Jha, Ranjan and Chablat, Damien and Rouillier, Fabrice and Moroz, Guillaume},
URL = {https://hal.archives-ouvertes.fr/hal-01309190},
BOOKTITLE = {{ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE)}},
ADDRESS = {Charlotte, NC, United States},
YEAR = {2016},
MONTH = Aug,
PDF = {https://hal.archives-ouvertes.fr/hal-01309190/file/2016_02_15_Jha_Chablat_Rouillier_Moroz.pdf},
HAL_ID = {hal-01309190},
HAL_VERSION = {v1},
}
  • [PDF] R. Jha, D. Chablat, F. Rouillier, and G. Moroz, “Workspace and Singularity analysis of a Delta like family robot,” in 4th IFTOMM International Symposium on Robotics and Mechatronics, Poitiers, France, 2015.
    [Bibtex] 
    @inproceedings{jha:hal-01142465,
TITLE = {{Workspace and Singularity analysis of a Delta like family robot}},
AUTHOR = {Jha, Ranjan and Chablat, Damien and Rouillier, Fabrice and Moroz, Guillaume},
URL = {https://hal.archives-ouvertes.fr/hal-01142465},
BOOKTITLE = {{4th IFTOMM International Symposium on Robotics and Mechatronics}},
ADDRESS = {Poitiers, France},
YEAR = {2015},
MONTH = Jun,
KEYWORDS = {Workspace ; Parallel robot ; Cylindrical algebraic decomposition ; Gr{\"o}bner basis ; Delta-like robot},
PDF = {https://hal.archives-ouvertes.fr/hal-01142465/file/ISRM2015_ranjan.pdf},
HAL_ID = {hal-01142465},
HAL_VERSION = {v1}
}
  • [PDF] R. Jha, D. Chablat, F. Rouillier, and G. Moroz, “An algebraic method to check the singularity-free paths for parallel robots,” in International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, United States, 2015.
    [Bibtex] 
    @inproceedings{jha:hal-01142989,
TITLE = {{An algebraic method to check the singularity-free paths for parallel robots}},
AUTHOR = {Jha, Ranjan and Chablat, Damien and Rouillier, Fabrice and Moroz, Guillaume},
URL = {https://hal.archives-ouvertes.fr/hal-01142989},
BOOKTITLE = {{International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference}},
ADDRESS = {Boston, United States},
ORGANIZATION = {{ASME}},
YEAR = {2015},
MONTH = Aug,
PDF = {https://hal.archives-ouvertes.fr/hal-01142989/file/asme2e_final_pdf.pdf},
HAL_ID = {hal-01142989},
HAL_VERSION = {v1}
}
  • D. Chablat, R. Jha, F. Rouillier, and G. Moroz, “Workspace and joint space analysis of the 3-rps parallel robot,” in ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, United States, 2014, pp. 1-10.
    [Bibtex] 
    @inproceedings{CJRM14a,
Address = {Buffalo, United States},
Author = {Chablat, Damien and Jha, Ranjan and Rouillier, Fabrice and Moroz, Guillaume},
Booktitle = {{ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference}},
Hal_Id = {hal-01006614},
Hal_Version = {v1},
Keywords = {Parallel robot ; operation modes ; Uniqueness domains ; Singularity ; Cylindrical Algebraic Decomposition},
Month = Aug,
Pages = {1-10},
Title = {Workspace and joint space analysis of the 3-RPS parallel robot},
Url = {https://hal.archives-ouvertes.fr/hal-01006614},
Year = {2014},
Bdsk-Url-1 = {https://hal.archives-ouvertes.fr/hal-01006614}}
  • D. Chablat, R. Jha, F. Rouillier, and G. Moroz, “Non-singular assembly mode changing trajectories in the workspace for the 3-rps parallel robot,” in 14th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, 2014, pp. 1-10.
    [Bibtex] 
    @inproceedings{CJRM14b,
Address = {Ljubljana, Slovenia},
Author = {Chablat, Damien and Jha, Ranjan and Rouillier, Fabrice and Moroz, Guillaume},
Booktitle = {{14th International Symposium on Advances in Robot Kinematics}},
Hal_Id = {hal-00956325},
Hal_Version = {v1},
Keywords = {Parallel robot ; 3-RPS ; Singularity ; Operation mode ; Aspect ; Cylindrical algebraic decomposition},
Month = Jun,
Pages = {1-10},
Title = {Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot},
Url = {https://hal.archives-ouvertes.fr/hal-00956325},
Year = {2014},
Bdsk-Url-1 = {https://hal.archives-ouvertes.fr/hal-00956325}}
  • M. Manubens, G. Moroz, D. Chablat, P. Wenger, and F. Rouillier, “Cusp points in the parameter space of degenerate 3-rpr planar parallel manipulators,” ASME Journal of Mechanisms and Robotics, pp. 1-10, 2012.
    [Bibtex] 
    @article{MMCWR12,
Author = {Manubens, Montserrat and Moroz, Guillaume and Chablat, Damien and Wenger, Philippe and Rouillier, Fabrice},
Hal_Id = {hal-00690975},
Hal_Version = {v1},
Journal = {{ASME Journal of Mechanisms and Robotics}},
Keywords = {kinematics ; parallel manipulator ; singularities ; cusp ; discriminant variety ; cylindric algebraic decomposition ; degenerate 3-RPR ; symbolic computation},
Pages = {1-10},
Publisher = {{ASME}},
Title = {Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators},
Url = {https://hal.archives-ouvertes.fr/hal-00690975},
Year = {2012},
Bdsk-Url-1 = {https://hal.archives-ouvertes.fr/hal-00690975}}
  • G. Moroz, D. Chablat, P. Wenger, and F. Rouillier, “Cusp points in the parameter space of rpr-2prr parallel manipulator,” in 3rd european conference on mechanism science : eucomes 2010, 2010, p. 29–37.
    [Bibtex] 
    @InProceedings{MRCW10a,
Title = {Cusp points in the parameter space of RPR-2PRR parallel manipulator},
Author = {Moroz, G. and Chablat, D. and Wenger, P. and Rouillier, F.},
Booktitle = {3rd European Conference on Mechanism Science : EUCOMES 2010},
Year = {2010},
Pages = {29--37}
}
  • J.-C.~Faugère and F.~Rouillier, “Outils de calcul formel performants pour la résolution de certains problèmes en robotique,” in Actes des journées nationales de recherche en robotique, 2005, pp. 89-99.
    [Bibtex] 
    @InProceedings{Faug`ere2005,
Title = {Outils de calcul formel performants pour la r\'esolution de certains probl\`emes en robotique},
Author = {J.-C.~Faug\`ere and F.~Rouillier},
Booktitle = {Actes des Journ\'ees Nationales de Recherche en Robotique},
Year = {2005},
Pages = {89-99},
Owner = {rouillie},
Timestamp = {2010.10.16},
Url = {http://jnrr05.irisa.fr/}
}
  • S.~Corvez and F.~Rouillier, “Using computer algebra tools to classify serial manipulators,” in Automated deduction in geometry, Springer, 2003, vol. 2930, p. 31–43.
    [Bibtex] 
    @InCollection{Corvez2003,
Title = {Using computer algebra tools to classify serial manipulators},
Author = {S.~Corvez and F.~Rouillier},
Booktitle = {Automated Deduction in Geometry},
Publisher = {Springer},
Year = {2003},
Pages = {31--43},
Series = {Lecture Notes in Artificial Intelligence},
Volume = {2930},
Owner = {rouillie},
Timestamp = {2010.10.16}
}
  • J. Faugère, L. Rolland, and F. Rouillier, “Using computer algebra tools for off-line studies of parallel manipulators,” in International conference on applications of computer algebra (aca’99), 1999.
    [Bibtex] 
    @InProceedings{Faug`ere1999b,
Title = {Using Computer algebra tools for off-line studies of parallel manipulators},
Author = {Jean-Charles Faug\`ere and Luc Rolland and Fabrice Rouillier},
Booktitle = {International Conference on Applications of Computer Algebra (ACA'99)},
Year = {1999},
Note = {Applications of Computer Algebra to Robotics, Peter Kovacs},
Owner = {rouillie},
Timestamp = {2010.10.16}
}
  • F.~Rouillier, “Real roots counting for some robotics problems,” in Computational kinematics, Kluwer, 1995, pp. 73-82.
    [Bibtex] 
    @InCollection{Rouillier1995e,
Title = {Real roots counting for some robotics problems},
Author = {F.~Rouillier},
Booktitle = {Computational Kinematics},
Publisher = {Kluwer},
Year = {1995},
Pages = {73-82},
Owner = {rouillie},
Timestamp = {2010.10.16}
}

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