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Damien Chablat

Directeur de Recherche CNRS au Laboratoire des Sciences du Numérique de Nantes (LS2N) - Responsable Action Robotique à l'Agence nationale de la recherche (ANR)
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Présentation

Damien Chablat received the PhD degrees in Génie Mécanique from the Ecole Centrale de Nantes and University of Nantes, France in 1998. During one year, he worked in the Centre of Intelligent Machines in McGill University with the Prof. Angeles. He joined the CNRS (Centre National de la Recherche Scientifique) in 1999. He became CNRS senior researcher in 2011 and works now in the ROMAS team at Laboratoire des Sciences du Numérique de Nantes. His research interests include robotics, design of parallel manipulator and human fatigue evaluation for industrial tasks. Since February 2023, he has been responsible for robotics action for the French national research agency (ANR).
Damien Chablat a obtenu son diplôme de doctorat en Génie Mécanique à l'Ecole Centrale de Nantes et à l'Université de Nantes en 1998. Durant une année, il a travaillé au Centre des Machines Intelligentes (CIM) de l'Université McGill avec le Prof. Angeles. Il a rejoint le CNRS (Centre National de la Recherche Scientifique) en 1999. Il est devenu directeur de recherche au CNRS en 2011 et il est actuellement chercheur dans l'équipe ROMAS au Laboratoire des Sciences du Numérique de Nantes. Ses intérêts de recherche comprennent la robotique, la conception de manipulateur parallèle et l'évaluation de la fatigue humaine pour des tâches industrielles. Depuis février 2023, il est responsable action robotique pour l'agence nationale de la recherche (ANR).

Publications

"anatol-pashkevich"
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Non-linear stiffness behavior of planar serial robotic manipulators

Wanda Zhao , Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Mechanism and Machine Theory, 2022, 172 (June), pp.104783. ⟨10.1016/j.mechmachtheory.2022.104783⟩
Article dans une revue hal-03578506v1
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Elastostatic modeling of multi-link flexible manipulator based on 2D dual-triangle tensegrity mechanism

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
Journal of Mechanisms and Robotics, 2021, ⟨10.1115/1.4051789⟩
Article dans une revue hal-03300149v1
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Mechanics of compliant serial manipulator composed of dual-triangle segments

Wanda Zhao , Anatol Pashkevich , Damien Chablat , Alexandr Klimchik
International Journal of Mechanical Engineering and Robotics Research, 2021, 10 (4), pp.169-176. ⟨10.18178/ijmerr.10.4.169-176⟩
Article dans une revue hal-03195185v1

MSA-technique for stiffness modeling of manipulators with complex and hybrid structures

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
IFAC-PapersOnLine, 2018, 51 (22), pp.37-43. ⟨10.1016/j.ifacol.2018.11.515⟩
Article dans une revue hal-01980769v1
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Fundamentals of manipulator stiffness modeling using matrix structural analysis

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Mechanism and Machine Theory, 2018, 133, pp.365-394. ⟨10.1016/j.mechmachtheory.2018.11.023⟩
Article dans une revue hal-01984946v1
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Static stability of manipulator configuration: Influence of the external loading

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
European Journal of Mechanics - A/Solids, 2015, 51, pp.193-203. ⟨10.1016/j.euromechsol.2014.12.010⟩
Article dans une revue hal-01201685v1
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Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
Mechanism and Machine Theory, 2014, 79, pp.1-28. ⟨10.1016/j.mechmachtheory.2014.04.002⟩
Article dans une revue hal-01065144v1
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CAD-based approach for identification of elasto-static parameters of robotic manipulators

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Finite Elements in Analysis and Design, 2013, 75, pp.19-30
Article dans une revue hal-00909587v1
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Stiffness matrix of manipulators with passive joints: computational aspects

Alexandr Klimchik , Anatol Pashkevich , Stéphane Caro , Damien Chablat
IEEE Transactions on Robotics, 2012, 28 (4), pp.1-4. ⟨10.1109/TRO.2012.2187395⟩
Article dans une revue hal-00670255v1
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Compliance error compensation technique for parallel robots composed of non-perfect serial chains

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat , Geir Hovland
Robotics and Computer-Integrated Manufacturing, 2012, 29 (2), pp.385-393. ⟨10.1016/j.rcim.2012.09.008⟩
Article dans une revue hal-00756997v1
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Enhanced stiffness modeling of manipulators with passive joints

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
Mechanism and Machine Theory, 2011, 46 (5), pp.662-679. ⟨10.1016/j.mechmachtheory.2010.12.008⟩
Article dans une revue hal-00583167v1
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Stiffness Analysis of Overconstrained Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2009, 44 (5), pp.966-982. ⟨10.1016/j.mechmachtheory.2008.05.017⟩
Article dans une revue hal-00372638v1
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
Journal of Automation, Mobile Robotics and Intelligent Systems, 2009, 3 (3), pp.75-82
Article dans une revue hal-00418768v1
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Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechatronics, 2009, 19 (4), pp.478-488. ⟨10.1016/j.mechatronics.2008.11.008⟩
Article dans une revue hal-00418777v1
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Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Robotica, 2006, 24 (1), pp.39-49
Article dans une revue hal-00168340v1
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Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms

Anatol Pashkevich , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2005, 40 (8), pp.907-930
Article dans une revue hal-00168494v1

Geometric synthesis of orthoglide-type mechanisms

Philippe Wenger , Damien Chablat , Anatol Pashkevich
Transactions of Belarusian Engineering Academy, 2004, 17 (1), pp.69-72
Article dans une revue hal-00169635v1
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Kinematic Control of compliant serial manipulators composed of dual-triangles

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ICCCR 2021 : International Conference on Computer, Control and Robotics, Jan 2021, Shanghai, China. pp.93-97, ⟨10.1109/ICCCR49711.2021.9349285⟩
Communication dans un congrès hal-03145096v1
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Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Wanda Zhao , Anatol Pashkevich , Damien Chablat
IFIP International Conference on Advances in Production Management Systems (APMS), Sep 2021, Nantes, France. pp.449-456, ⟨10.1007/978-3-030-85910-7_47⟩
Communication dans un congrès hal-03311952v1
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Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments

Wanda Zhao , Anatol Pashkevich , Damien Chablat
IEEE 2021 International Conference on Automation Science and Engineering, Aug 2021, Lyon, France
Communication dans un congrès hal-03311948v1
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Stiffness Modeling of Compliant Serial Manipulators Based on Tensegrity Mechanism under External Loading

Wanda Zhao , Anatol Pashkevich , Damien Chablat
18th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2021, Paris, France. ⟨10.5220/0010506102540262⟩
Communication dans un congrès hal-03311957v1
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Equilibrium configurations of compliant tensegrity mechanism based on planar dual-triangles

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ICINCO 2020: International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris, France. pp.316-337, ⟨10.1007/978-3-030-92442-3_17⟩
Communication dans un congrès hal-03311969v1
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The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ASME 2020 : International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2020, Virtual, United States. ⟨10.1115/DETC2020-22076⟩
Communication dans un congrès hal-03147414v1
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Mechanics of compliant serial manipulator composed of dual-triangle segments

Damien Chablat , Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik
3rd International Conference on Control and Robots, Dec 2020, Tokyo, Japan
Communication dans un congrès hal-02994193v1
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Stiffness modeling of NAVARO II transmission system

A. Klimchik , Anatol Pashkevich , Damien Chablat
9th IFAC Conference Manufacturing Modelling, Management and Control MIM, Aug 2019, Berlin, Germany. ⟨10.1016/j.ifacol.2019.11.151⟩
Communication dans un congrès hal-02217257v1

Variable Actuation Modes in Parallel Manipulators: Impact on the Stiffness Behavior

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
FRUCT 2018 : 23rd Conference of Open Innovations Association, Nov 2018, Bologne, Italy. ⟨10.23919/FRUCT.2018.8588031⟩
Communication dans un congrès hal-01980669v1

Stiffness Analysis of Parallel Manipulator NaVaRo with Dual Actuation Modes

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
RusAutoCon 2018 : International Russian Automation Conference, Sep 2018, Sotchi, Russia. ⟨10.1109/RUSAUTOCON.2018.8501754⟩
Communication dans un congrès hal-01980681v1

MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
SYROCO 2018 : 12TH IFAC Symposium on Robot Control, Aug 2018, Budapest, Hungary. ⟨10.1016/j.ifacol.2018.11.515⟩
Communication dans un congrès hal-01862858v1
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Stiffness modeling of non-perfect parallel manipulators

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Oct 2012, Vilamoura, Portugal. pp.2781-2788
Communication dans un congrès hal-00756998v1
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STABILITY OF MANIPULATOR CONFIGURATION UNDER EXTERNAL LOADING

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Proceedings of the 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. pp.1-10
Communication dans un congrès hal-00759865v1
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Stiffness Modeling of Robotic-Manipulators Under Auxiliary Loadings

Alexandr Klimchik , Anatol Pashkevich , Stéphane Caro , Damien Chablat
ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), Aug 2012, Chicago, United States. ⟨10.1115/DETC2012-70457⟩
Communication dans un congrès hal-00693154v1
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Modélisation de la raideur de mécanismes parallèles possédant des boucles fermées

Damien Chablat , Alexandr Klimchik , Anatol Pashkevich
12e congrès annuel de la Société française de Recherche Opérationnelle et d'Aide à la Décision, Mar 2011, Saint Etienne, France. pp.1-2
Communication dans un congrès hal-00598317v1
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Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Anatol Pashkevich , Alexandr Klimchik , Stéphane Caro , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1-8, ⟨10.1109/IROS.2011.6094419⟩
Communication dans un congrès hal-00610306v1
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Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies

Sébastien Briot , Anatol Pashkevich , Damien Chablat
13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico
Communication dans un congrès hal-00553090v1
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Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
12th International Symposium on Advances in Robot Kinematics, Jun 2010, Ljubljana, Slovenia. pp.465-474
Communication dans un congrès hal-00544851v1
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Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications

Sébastien Briot , Anatol Pashkevich , Damien Chablat
the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, United States
Communication dans un congrès hal-00451898v1
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Performance evaluation of parallel manipulators for milling application

Anatol Pashkevich , Alexandr Klimchik , Sébastien Briot , Damien Chablat
20th CIRP Design Conference, May 2010, Nantes, France. pp.1-8
Communication dans un congrès hal-00544855v1
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Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

Sébastien Briot , Anatol Pashkevich , Damien Chablat
ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, Aug 2010, Montréal, Canada. pp.DETC2010-28107, ⟨10.1115/DETC2010-28107⟩
Communication dans un congrès hal-00468932v1
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On the optimal design of parallel robots taking into account their deformations and natural frequencies

Sébastien Briot , Anatol Pashkevich , Damien Chablat
ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
Communication dans un congrès hal-00411845v1
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Nonlinear Effects in Stiffness Modeling of Robotic Manipulators

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
International Conference on Computer and Automation Technology, Oct 2009, Venise, Italy. pp.168-173
Communication dans un congrès hal-00439590v1
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Design optimization of parallel manipulators for high-speed precision machining applications

Anatol Pashkevich , Damien Chablat , Philippe Wenger
13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6
Communication dans un congrès hal-00414240v1
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Accuracy Improvement for Stiffness Modeling of Parallel Manipulators

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8
Communication dans un congrès hal-00414207v1
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Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
ICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6
Communication dans un congrès hal-00257728v1
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Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

Anatol Pashkevich , Damien Chablat , Philippe Wenger
5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10
Communication dans un congrès hal-00340626v1
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Damien Chablat , Philippe Wenger
9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6
Communication dans un congrès hal-00326672v1
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Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide

Anatol Pashkevich , Roman Gomolitsky , Philippe Wenger , Damien Chablat
May 2007, Angers, France. pp.1-8
Communication dans un congrès hal-00145161v1
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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

Anatol Pashkevich , Philippe Wenger , Damien Chablat
ICRA, Apr 2007, Rome, Italy. pp.1-6
Communication dans un congrès hal-00164595v1
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Kinematic Calibration of the Orthoglide-Type Mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2006, Saint Etienne, France. pp.1-6
Communication dans un congrès hal-00145163v1
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The Orthoglide: Kinematics and Workspace Analysis

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès hal-00145372v1
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Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
ROMANSY 22–Robot Design, Dynamics and Control, Springer, Cham, pp.355-362, 2018, ⟨10.1007/978-3-319-78963-7_45⟩
Chapitre d'ouvrage hal-01800044v1
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Stiffness modeling of robotic manipulator with gravity compensator

Alexandr Klimchik , Stéphane Caro , Yier Wu , Damien Chablat , Benoît Furet
Thomas F.; Perez Gracia A. Mechanisms and Machine Science, 15, Springer, Dordrecht, pp.161-168, 2014, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_21⟩
Chapitre d'ouvrage hal-00909555v1
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Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat , Geir Hovland
Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.51-58, 2012, 978-94-007-4620-6
Chapitre d'ouvrage hal-00686239v1
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Stiffness modelling of parallelogram-based parallel manipulators

Anatol Pashkevich , Alexandr Klimchik , Stéphane Caro , Damien Chablat
Pisla D., Ceccarelli M., Husty M., Corves B. New Trends in Mechanism Science. Mechanisms and Machine Science, 5, Springer, Dordrecht, pp.675-682, 2010, 978-90-481-9688-3
Chapitre d'ouvrage hal-00545384v1
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Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

Anatol Pashkevich , Damien Chablat , Philippe Wenger , Roman Gomolitsky
Jee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008
Chapitre d'ouvrage hal-00428919v1
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Kinematic calibration of orthoglide-type mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Alexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France
Chapitre d'ouvrage hal-00186773v1