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Marc Gouttefarde-Tanich

99
Documents
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Presentation

**Analysis, design, control, and applications of cable-driven parallel robots** In close collaboration with academic and industrial partners, most of the results of my researches are validated on cable-driven parallel robot demonstrators or applications

Publications

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Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

Ghina Hassan , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé , Maher El Rafei
IEEE/ASME Transactions on Mechatronics, 2022, 27 (6), pp.4707-4717. ⟨10.1109/TMECH.2022.3164247⟩
Journal articles lirmm-03650958v1
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A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

João Cavalcanti Santos , Marc Gouttefarde , Ahmed Chemori
IEEE Transactions on Robotics, 2022, 38 (4), pp.2597-2616. ⟨10.1109/TRO.2022.3152705⟩
Journal articles lirmm-03624086v1
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Analysis and verification of cable pretension effect on the buckling load of a single-link flexible mechanism

Lewei Tang , Marc Gouttefarde , Alberto Doria , Haining Sun , Hongbing Wang
Applied Mathematical Modelling, 2022, 104, pp.499-516. ⟨10.1016/j.apm.2021.11.034⟩
Journal articles lirmm-03795253v1
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Cable-driven parallel robot for curtain wall module installation

Kepa Iturralde , Malte Feucht , Daniel Illner , Rongbo Hu , Wen Pan
Automation in Construction, 2022, 138, pp.104235. ⟨10.1016/j.autcon.2022.104235⟩
Journal articles lirmm-03795182v1
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Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Hussein Hussein , João Cavalcanti Santos , Jean-Baptiste Izard , Marc Gouttefarde
IEEE Transactions on Robotics, 2021, 37 (4), pp.1186-1205. ⟨10.1109/TRO.2020.3043684⟩
Journal articles lirmm-03409473v1
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Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

Lewei Tang , Marc Gouttefarde , Haining Sun , Lairong Yin , Changjiang Zhou
Mechanism and Machine Theory, 2021, 162, pp.#104347. ⟨10.1016/j.mechmachtheory.2021.104347⟩
Journal articles lirmm-03409449v1
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Modeling and Vision-Based Control of Large-Dimension Cable-Driven Parallel Robots Using a Multiple-Camera Setup

Tej Dallej , Marc Gouttefarde , Nicolas Andreff , Pierre-Elie Hervé , Philippe Martinet
Mechatronics, 2019, 61, pp.20-36. ⟨10.1016/j.mechatronics.2019.05.004⟩
Journal articles lirmm-02157768v1
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Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Jeremy Begey , Loic Cuvillon , Maximilian Lesellier , Marc Gouttefarde , Jacques Gangloff
IEEE Transactions on Robotics, 2019, 35 (1), pp.286-293. ⟨10.1109/TRO.2018.2875415⟩
Journal articles lirmm-02087410v2
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Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

Huan Yuan , Eric Courteille , Marc Gouttefarde , Pierre-Elie Hervé
Journal of Sound and Vibration, 2017, 394, pp.527-544. ⟨10.1016/j.jsv.2017.02.003⟩
Journal articles hal-01484736v1
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Discrete reconfiguration planning for Cable-Driven Parallel Robots

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Alexis Girin
Mechanism and Machine Theory, 2016, 100, pp.313-337. ⟨10.1016/j.mechmachtheory.2016.02.014⟩
Journal articles hal-01400440v1
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A Versatile Tension Distribution Algorithm for $n$-DOF Parallel Robots Driven by $n+2$ Cables

Marc Gouttefarde , Johann Lamaury , Christopher Reichert , Tobias Bruckmann
IEEE Transactions on Robotics, 2015, 31 (6), pp.1444-1457. ⟨10.1109/TRO.2015.2495005⟩
Journal articles lirmm-01304458v1
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Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot

Marc Gouttefarde , Jean-François Collard , Nicolas Riehl , Cédric Baradat
IEEE Transactions on Robotics, 2015, 31 (2), pp.501-510. ⟨10.1109/TRO.2015.2400253⟩
Journal articles lirmm-01221397v1
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Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots

Marc Gouttefarde , David Daney , Jean-Pierre Merlet
IEEE Transactions on Robotics, 2011, 27 (1), pp.001-013. ⟨10.1109/TRO.2010.2090064⟩
Journal articles lirmm-00573491v1

Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators

David Corbel , Marc Gouttefarde , Olivier Company , François Pierrot
Journal of Mechanisms and Robotics, 2010, 2 (4), pp.13. ⟨10.1115/1.4002078⟩
Journal articles lirmm-00533875v1

Determination and Management of Cable Interferences Between Two 6-DOF Foot Platforms in a Cable-Driven Locomotion Interface

Martin J.-D. Otis , Simon Perreault , Thien-Ly Nguyen-Dang , Patrice Lambert , Marc Gouttefarde
IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 2009, 39 (3), pp.528-544. ⟨10.1109/TSMCA.2009.2013188⟩
Journal articles lirmm-00387456v1
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Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

Marc Gouttefarde , Clément M. Gosselin
IEEE Transactions on Robotics, 2006, 22 (3), pp.434-445. ⟨10.1109/TRO.2006.870638⟩
Journal articles lirmm-00199376v1

Wrench-Closure Workspace of Six-DOF Parallel Mechanisms Driven by 7 Cables

Marc Gouttefarde , Clément M. Gosselin
Transactions of the Canadian Society for Mechanical Engineering, 2005, 29 (4), pp.541-552
Journal articles lirmm-00198800v1
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The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal

Marc Gouttefarde , Mariola Rodriguez , Cyril Barrelet , Pierre-Elie Hervé , Vincent Creuze
CableCon 2023 - 6th International Conference on Cable-Driven Parallel Robots, Stéphane Caro, CNRS, LS2N, Nantes, France (stephane.caro@ls2n.fr); Tobias Bruckmann, University of Duisburg-Essen, Germany (tobias.bruckmann@uni-due.de); Andreas Pott, University of Stuttgart, Germany, (andreas.pott@isw.uni-stuttgart.de), Jun 2023, Nantes, France. pp.430-441, ⟨10.1007/978-3-031-32322-5_35⟩
Conference papers lirmm-04261099v1
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A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

Valentina Mattioni , Edoardo Idá , Marc Gouttefarde , Marco Carricato
CableCon 2023 - 6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.140-160, ⟨10.1007/978-3-031-32322-5_12⟩
Conference papers lirmm-04268038v1
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On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots

Jean-Baptiste Izard , Marc Gouttefarde
CableCon 2023 - 6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.134-135, ⟨10.1007/978-3-031-32322-5_11⟩
Conference papers lirmm-04267890v1
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Dériver une base de données d'images en une nouvelle version plus cohérente et équilibrée pour de l'apprentissage profond

Cyril Barrelet , Marc Chaumont , Gérard Subsol , Vincent Creuze , Marc Gouttefarde
GRETSI 2022 - 28e Colloque Francophone de Traitement du Signal et des Images, Sep 2022, Nancy, France
Conference papers lirmm-03815617v1
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From TrashCan to UNO: Deriving an Underwater Image Dataset To Get a More Consistent and Balanced Version

Cyril Barrelet , Marc Chaumont , Gérard Subsol , Vincent Creuze , Marc Gouttefarde
CVAUI 2022 - 5th Workshop on Computer Vision for Analysis of Underwater Imagery @ICPR, Jul 2022, Montreal, Canada. pp.403-414, ⟨10.1007/978-3-031-37731-0_30⟩
Conference papers lirmm-03815628v1
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Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations

Ghina Hassan , Ahmed Chemori , Maher El Rafei , Marc Gouttefarde , Clovis Francis
ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.634-640, ⟨10.1016/j.ifacol.2022.07.383⟩
Conference papers lirmm-03713956v1
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A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs

Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis
ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.627-633, ⟨10.1016/j.ifacol.2022.07.382⟩
Conference papers lirmm-03713933v1
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A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs

Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis
SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan
Conference papers lirmm-03818538v1
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A Simple and Efficient Non-Model Based Cable Tension Control

João Cavalcanti Santos , Marc Gouttefarde
CableCon 2021 - 5th International Conference on Cable-Driven Parallel Robots, Jul 2021, Virtual, France. pp.297-308, ⟨10.1007/978-3-030-75789-2_24⟩
Conference papers lirmm-03217093v1
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Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel Robots

Utkarsh A Mishra , Stéphane Caro , Marc Gouttefarde
ReMAR 2021 - 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Aug 2021, Toronto, Canada
Conference papers hal-03338563v1
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Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

Micaël Michelin , Pierre-Elie Hervé , Olivier Tempier , Jean-Baptiste Izard , Marc Gouttefarde
CableCon 2021 - 5th International Conference on Cable-Driven Parallel Robots, Jul 2021, Virtual, France. pp.323-335, ⟨10.1007/978-3-030-75789-2_26⟩
Conference papers lirmm-03409481v1
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A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

Kepa Iturralde , Malte Feucht , Rongbo Hu , Wen Pan , Marcel Schlandt
ISARC 2020 - 37th International Symposium on Automation and Robotics in Construction, Oct 2020, Kitakyushu, Japan. pp.1472-1479, ⟨10.22260/ISARC2020/0204⟩
Conference papers lirmm-04041835v1
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Continuous Tension Validation for Cable-Driven Parallel Robots

Diane Bury , Jean-Baptiste Izard , Marc Gouttefarde , Florent Lamiraux
IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. pp.6558-6563, ⟨10.1109/IROS45743.2020.9341202⟩
Conference papers hal-02900961v1
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Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments

João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde
ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3889-3895, ⟨10.1109/ICRA40945.2020.9197271⟩
Conference papers lirmm-02747604v1
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A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics

João Cavalcanti Santos , Marc Gouttefarde
ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Jun 2020, Ljubljana, Slovenia. pp.199-208, ⟨10.1007/978-3-030-50975-0_25⟩
Conference papers lirmm-02749091v1
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Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots

João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde
CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩
Conference papers lirmm-02155794v1
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Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Nicolas Tremblay , Kaveh Kamali , Philippe Cardou , Christian Desrosiers , Marc Gouttefarde
CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.345-356, ⟨10.1007/978-3-030-20751-9_29⟩
Conference papers lirmm-02309386v1
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Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury , Jean-Baptiste Izard , Marc Gouttefarde , Florent Lamiraux
IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.8097-8102, ⟨10.1109/IROS40897.2019.8967836⟩
Conference papers hal-02294402v1
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Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots

Lionel Birglen , Marc Gouttefarde
CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.61-71, ⟨10.1007/978-3-030-20751-9_6⟩
Conference papers lirmm-02309355v1
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A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification

Maximilian Lesellier , Marc Gouttefarde
CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.173-183, ⟨10.1007/978-3-030-20751-9_15⟩
Conference papers lirmm-02309368v1

Cable-Driven Parallel Robots: Principle and Applications of an Advanced Crane System

Jean-Baptiste Izard , Marc Gouttefarde , Hussein Hussein , Christoph Martin , Werner Kraus
ICAE: International Congress on Architectural Envelopes, Jun 2018, San Sebastian-Donostia, Spain
Conference papers lirmm-01898808v1
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Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces

Hussein Hussein , Marc Gouttefarde , François Pierrot
ARK 2018 - 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologna, Italy. pp.310-318, ⟨10.1007/978-3-319-93188-3_36⟩
Conference papers lirmm-01897992v1
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Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

Hussein Hussein , João Cavalcanti Santos , Marc Gouttefarde
IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124, ⟨10.1109/IROS.2018.8593900⟩
Conference papers lirmm-01898802v1
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An active stabilizer for cable-driven parallel robot vibration damping

Maximilian Lesellier , Loic Cuvillon , Jacques Gangloff , Marc Gouttefarde
IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5063-5070, ⟨10.1109/IROS.2018.8594148⟩
Conference papers lirmm-01898803v1

Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo

Philipp Tempel , Pierre-Elie Hervé , Olivier Tempier , Marc Gouttefarde , Andreas Pott
ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6093-6098, ⟨10.1109/ICRA.2017.7989723⟩
Conference papers lirmm-01830274v1
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Twist Feasibility Analysis of Cable-Driven Parallel Robots

Saman Lessanibahri , Marc Gouttefarde , Stéphane Caro , Philippe Cardou
3rd International Conference on Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139, ⟨10.1007/978-3-319-61431-1_12⟩
Conference papers hal-01757798v1

Maximum wrench feasible payload in cable-driven parallel robots equipped with a serial robot

Gamal El-Ghazaly , Marc Gouttefarde , Vincent Creuze , François Pierrot
AIM: Advanced Intelligent Mechatronics, Jul 2016, Banff, Canada. pp.1572-1578, ⟨10.1109/AIM.2016.7576994⟩
Conference papers lirmm-01830282v1
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Innovative Approach to Use Air Bearings in Cubesat Ground Tests

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau
CubeSat Workshop, ESA, CNES, May 2016, La Valette, Malta
Conference papers hal-01348039v1

Determination of a Rigid Body Orientation By Means of Indirect Measurements

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot
EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.61-69, ⟨10.1007/978-3-319-44156-6_7⟩
Conference papers lirmm-01830279v1

Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator

Marc Gouttefarde
EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.363-371, ⟨10.1007/978-3-319-44156-6_37⟩
Conference papers lirmm-01830277v1
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A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Alexis Girin
ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620, ⟨10.1109/ICRA.2015.7139404⟩
Conference papers lirmm-01221409v1
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Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities

Gamal El-Ghazaly , Marc Gouttefarde , Vincent Creuze
IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1672-1678, ⟨10.1109/IROS.2015.7353592⟩
Conference papers lirmm-01221412v1
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Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau
IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.5447-5453, ⟨10.1109/IROS.2015.7354148⟩
Conference papers lirmm-01310817v1
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Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible Workspace

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde
CASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105, ⟨10.1109/CoASE.2015.7294046⟩
Conference papers hal-01941620v1
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On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots

Dinh Quan Nguyen , Marc Gouttefarde , Olivier Company , François Pierrot
ICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. pp.5728-5735, ⟨10.1109/ICRA.2014.6907701⟩
Conference papers lirmm-01221402v1

Simulation and Control with XDE and Matlab/Simulink of a Cable-Driven Parallel Robot (CoGiRo)

Micaël Michelin , Cédric Baradat , Dinh Quan Nguyen , Marc Gouttefarde
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.71-83, ⟨10.1007/978-3-319-09489-2_6⟩
Conference papers lirmm-01221406v1
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Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

Gamal El-Ghazaly , Marc Gouttefarde , Vincent Creuze
CableCon: Cable-Driven Parallel Robots, Tobias Bruckmann; Andreas Pott, Aug 2014, Duisburg, Germany. pp.179-200, ⟨10.1007/978-3-319-09489-2_13⟩
Conference papers lirmm-01084648v1

On the Improvement of Cable Collision Detection Algorithms

Dinh Quan Nguyen , Marc Gouttefarde
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.29-40, ⟨10.1007/978-3-319-09489-2_3⟩
Conference papers lirmm-01221405v1
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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Philippe Wenger , Alexis Girin
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩
Conference papers lirmm-01221407v1
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Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Philippe Wenger , Alexis Girin
ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩
Conference papers lirmm-01221401v1
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Study of Reconfigurable Suspended Cable-Driven Parallel Robots for Airplane Maintenance

Dinh Quan Nguyen , Marc Gouttefarde
IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1682-1689, ⟨10.1109/IROS.2014.6942781⟩
Conference papers lirmm-01221408v1
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Test Bench For Nanosatellite Attitude Determination And Control System Ground Tests

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau
4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain
Conference papers lirmm-01310802v1

Control of a Large Redundantly Actuated Cable-Suspended Parallel Robot

Johann Lamaury , Marc Gouttefarde
ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. pp.4644-4649
Conference papers lirmm-00841668v1
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On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots

Dinh Quan Nguyen , Marc Gouttefarde , Olivier Company , François Pierrot
IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.928-934, ⟨10.1109/IROS.2013.6696461⟩
Conference papers lirmm-01221398v1
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Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots

Johann Lamaury , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé
IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩
Conference papers lirmm-01221399v1

Design and Control of a Redundant Suspended Cable-Driven Parallel Robots

Johann Lamaury , Marc Gouttefarde , Micaël Michelin , Olivier Tempier
Latest Advances in Robots Kinematics, Austria. pp.237-244
Conference papers lirmm-00737551v1

Calibration of a Fully-Constrained Parallel Cable-Driven Robot

Dit Sandretto Julien Alexandre , David Daney , Marc Gouttefarde
ROMANSY'2012: 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Paris, France. pp.1-8
Conference papers lirmm-00737638v1
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Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots

Tej Dallej , Marc Gouttefarde , Nicolas Andreff , Redwan Dahmouche , Philippe Martinet
IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.1581-1586, ⟨10.1109/IROS.2012.6385504⟩
Conference papers lirmm-00737658v1

Dynamics Modelling of Large Suspended Parallel Cable-driven Robots

Marc Gouttefarde , Jean-François Collard , Johann Lamaury
ECCOMAS Thematic Conference on Multibody Dynamics, Belgium. pp.01-13
Conference papers lirmm-00737241v1

An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body

François Guay , Jean-François Collard , Marc Gouttefarde , Philippe Cardou
ASME'2011: International Design Engineering Technical Conferences & Annual Mechanisms and Robotics Conference, United States. pp.01-10
Conference papers lirmm-00737245v1

Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots

Marc Gouttefarde , Jean-François Collard , Nicolas Riehl , Cédric Baradat
ICRA: International Conference on Robotics and Automation, 2012, Saint Paul, MN, United States. pp.2299-2305, ⟨10.1109/ICRA.2012.6225159⟩
Conference papers lirmm-00737544v1
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A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing

Jean-Baptiste Izard , Marc Gouttefarde , Micaël Michelin , Olivier Tempier , Cédric Baradat
1st International Conference on Cable-Driven Parallel Robots (2012), 2012, Stuttgart, Germany. pp.135-148, ⟨10.1007/978-3-642-31988-4_9⟩
Conference papers lirmm-00737650v1
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Integration of a parallel cable-driven robot on an existing building façade

Jean-Baptiste Izard , Marc Gouttefarde , Cédric Baradat , David Culla , Damien Sallé
1st International Conference on Cable-Driven Parallel Robots (2012), 2012, Stuttgart, Germany. pp.149-164, ⟨10.1007/978-3-642-31988-4_10⟩
Conference papers lirmm-00737648v1
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Towards vision-based control of cable-driven parallel robots

Tej Dallej , Marc Gouttefarde , Nicolas Andreff , Micaël Michelin , Philippe Martinet
IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, United States. pp.2855-2860, ⟨10.1109/IROS.2011.6094591⟩
Conference papers hal-00691562v1
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Modèle simplifié de câble pesant élastique : Application aux robots parallèles à câbles

Nicolas Riehl , Cédric Baradat , Marc Gouttefarde , François Pierrot
CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
Conference papers hal-03422498v1

Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-and-Place?

David Corbel , Marc Gouttefarde , Olivier Company , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. pp.4675-4682, ⟨10.1109/ROBOT.2010.5509921⟩
Conference papers lirmm-00486231v1

On the Static Workspace of Large Dimension Cable-Suspended Robots with Non Negligible Cable Mass

Nicolas Riehl , Marc Gouttefarde , François Pierrot , Cédric Baradat
ASME'10: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2010, Montréal, Canada. pp.10
Conference papers lirmm-00533867v1

On the Determination of Cable Characteristics for Large Dimension Cable-Driven Parallel Mechanisms

Nicolas Riehl , Marc Gouttefarde , Cédric Baradat , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4709-4714, ⟨10.1109/ROBOT.2010.5509887⟩
Conference papers lirmm-00486225v1

Characterization of Parallel Manipulator Available Wrench Set Facets

Marc Gouttefarde , Sébastien Krut
Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. pp.475-482
Conference papers lirmm-00533860v1

Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms

Nicolas Riehl , Marc Gouttefarde , Sébastien Krut , Cédric Baradat , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.2193-2198, ⟨10.1109/ROBOT.2009.5152576⟩
Conference papers lirmm-00397805v1

Above 40g Acceleration for Pick-and-Place with a New 2-Dof PKM

François Pierrot , Cédric Baradat , Vincent Nabat , Olivier Company , Sébastien Krut
ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1794-1800, ⟨10.1109/ROBOT.2009.5152193⟩
Conference papers lirmm-00399019v1

On the Design of Fully Constrained Parallel Cable-Driven Robots

Marc Gouttefarde , Sébastien Krut , Olivier Company , François Pierrot , Nacim Ramdani
Advances in Robots Kinematics: Analysis and Design, Jun 2008, Batz-sur-Mer, France. pp.71-78
Conference papers lirmm-00322375v1

Characterizations of Fullly Constrained Poses of Parallel Cable-Driven Robots: a Review

Marc Gouttefarde
ASME'08: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2008, Brooklyn, NY, United States. pp.01-10
Conference papers lirmm-00322382v1

First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty

Nacim Ramdani , Marc Gouttefarde , François Pierrot , Jean-Pierre Merlet
IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France, France. pp.2410-2415
Conference papers lirmm-00327649v1

A Parallel Cable-Driven Crane for Scara Motions

Sébastien Krut , Nacim Ramdani , Marc Gouttefarde , Olivier Company , François Pierrot
DETC: Design Engineering Technical Conferences, Aug 2008, Brooklyn, NY, United States. pp.101-108, ⟨10.1115/DETC2008-49969⟩
Conference papers lirmm-00322385v1

Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms

Marc Gouttefarde , Jean-Pierre Merlet , David Daney
Advances in Robot Kinematics, Ljubljana, Slovenia, pp.315-322
Conference papers lirmm-00198802v1

Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms

Marc Gouttefarde , Jean-Pierre Merlet , David Daney
ICRA'07: International Conference on Robotics and Automation, Apr 2007, Roma, Italy, pp.1492-1497
Conference papers lirmm-00199377v1

On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

Marc Gouttefarde , Clément M. Gosselin
ASME Design Engineering Technical Conferences 2004, Sep 2004, Salt Lake City, Utah, USA, pp.10
Conference papers lirmm-00198798v1
Image document

Cable-Driven Parallel Robots

Marc Gouttefarde , Tobias Bruckmann
Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-14, 2022, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_149-1⟩
Book sections lirmm-03795204v1

Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure

Berti Allessando , Marc Gouttefarde , Marco Carricato
Advances in Robot Kinematics 2016, 4, , pp.331-339, 2018, Springer Proceedings in Advanced Robotics (SPAR), 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_35⟩
Book sections lirmm-01830286v1
Image document

Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots

Lorenzo Gagliardini , Marc Gouttefarde , Stéphane Caro
J Lenarčič; J.P Merlet. Advances in Robot Kinematics 2016, 4, pp.361-370, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56802-7. ⟨10.1007/978-3-319-56802-7_38⟩
Book sections hal-01758038v1
Image document

Design of Reconfigurable Cable-Driven Parallel Robots

Lorenzo Gagliardini , Marc Gouttefarde , Stéphane Caro
E Ottaviano; A Pelliccio; V Gattulli. Mechatronics for Cultural Heritage and Civil Engineering, 92 (92), pp.85-113, 2018, 978-3-319-68646-2. ⟨10.1007/978-3-319-68646-2_4⟩
Book sections hal-01758141v1

Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys

Marc Gouttefarde , Dinh Quan Nguyen , Cédric Baradat
Advances in Robot Kinematics, pp.213-221, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_23⟩
Book sections lirmm-01221403v1

Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Dinh Quan Nguyen , Marc Gouttefarde
Advances in Robot Kinematics, pp.181-191, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_20⟩
Book sections lirmm-01221404v1
Image document

A Tension Distribution Method with Improved Computational Efficiency

Johann Lamaury , Marc Gouttefarde
Cable-Driven Parallel Robots, 12, Springer, pp.71-85, 2013, Mechanisms and Machine Science, 978-3-642-31988-4. ⟨10.1007/978-3-642-31988-4_5⟩
Book sections lirmm-00737656v1