Philippe Wenger
123
Documents
Identifiants chercheurs
- philippe-wenger
- IdRef : 035621621
- 0000-0002-6608-4484
Présentation
Philippe Wenger obtained his PhD in 1989 in Nantes University, France, and the Professor Habilitation in 1998. He joined the IRCCyN in 1990 as a CNRS research scientist and is with the LS2N since 2017. He is a CNRS Director of Research since 2002 and serves as a Professor at Ecole Centrale de Nantes since 2000 where he teaches a course on the optimal kinematic design of robots in the EMARO master (European Master on Robotics). He has led several research teams since 1998, including the robotics team of IRCCyN from 2010 to 2016. He has been involved in the kinematic analysis and design of robotic mechanisms for more than 30 years. He has participated in several national and international projects on the innovative design of robots in a variety of applications including machining, pick-and-place, medical and bio-inspired design. He has been regularly collaborating with industrial partners such as GE-Healthcare, Staubli, PSA, Renault, EDF, Airbus, STX-France and DCNS. He has given 26 keynotes or plenary lectures in national and international conferences, workshops and seminars. He has been a visiting professor in various Universities such as Laval Univ. (Canada), Lomonossov Univ. (Russia), Keio Univ. (Japan), ITLag (Mexico), Eniso (Tunisia), AIT Bangkok (Thailand), IIT Indore (India) and Changzhou Univ. (China). He has organized and chaired 6 international conferences and workshops, and has been a member in the scientific committee of more than 20 international conferences. He serves as an Associate Editor for Mechanism and Machine Theory and ASME Journal of Mechanisms and Robotics, and as a Vice-Chair of the IFToMM Committee Computational Kinematics.
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Trajectory planning issues in cuspidal commercial robotsInternational Conference on Robotics and Automation, IEEE, May 2023, London, United Kingdom
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Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic GeometryISSAC 2022 - 47th International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
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A bio-inspired 3-DOF light-weight manipulator with tensegrity X-jointsICRA'2020, May 2020, Paris, France
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Modelling, design and control of a bird neck using tensegrity mechanismsICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada
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Combining precision and power to maximize performance: a case study of the woodpecker's neck44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France
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Design and analysis of a tensegrity mechanism for a bio-inspired robotThe ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019, Aug 2019, Annaheim, California, United States, Aug 2019, Annaheim, CA, United States. ⟨10.1115/DETC2019-97544⟩
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Prototype of a tensegrity manipulator to mimic bird necks24ème Congrès Français de Mécanique, Aug 2019, Brest, France
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Kinematic Analysis and Trajectory Planning of the Orthoglide 5-AxisInternational Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-46292⟩
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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel RobotASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩
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Singular surfaces and cusps in symmetric planar 3-RPR manipulatorsIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩
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A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8
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Uniqueness domains and non singular assembly mode changing trajectoriesInternational Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1-6
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Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩
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Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8
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Cusp points in the parameter space of RPR-2PRR parallel manipulators3rd European Conference on Mechanism Science : EUCOMES 2010, Sep 2010, Cluj-Napoca, Romania. pp.29-37, ⟨10.1007/978-90-481-9689-0_4⟩
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Accuracy Improvement for Stiffness Modeling of Parallel Manipulators42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8
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Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axisTroisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8
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The eel-like robotASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
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hal-00411844v2
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Design optimization of parallel manipulators for high-speed precision machining applications13th 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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Kinematic analysis of a class of analytic planar 3-RPR parallel manipulatorsInternational Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8
Communication dans un congrès
hal-00412923v1
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Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4
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hal-00323101v1
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Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel ManipulatorsICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6
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Kinematic and Dynamic Analyses of the Orthoglide 5-axisCongress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6
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Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6
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hal-00326672v1
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Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10
Communication dans un congrès
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SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley AlgebraAdvances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10
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A design oriented study for 3R Orthogonal Manipulators With Geometric SimplificationsMar 2007, Monastir, Tunisia. pp.1-8
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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performancesICRA, Apr 2007, Rome, Italy. pp.1-6
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Kinematics analysis of the parallel module of the VERNE machineThe 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6
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Workspace and Kinematic Analysis of the VERNE machineAIM, Sep 2007, Zürich, Switzerland. pp.1-6
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hal-00164877v1
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Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel ManipulatorsJun 2007, Besançon, France. pp.1-6
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hal-00145398v1
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Calibration of quasi-isotropic parallel kinematic Machines: OrthoglideMay 2007, Angers, France. pp.1-8
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hal-00145161v1
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Singular curves and cusp points in the joint space of 3-RPR parallel manipulators2006, Orlando, United States. pp.1-6
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Kinematic Calibration of the Orthoglide-Type Mechanisms2006, Saint Etienne, France. pp.1-6
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hal-00145163v1
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Kinematic analysis of the 3-RPR parallel manipulator10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228
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A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile EyeIDETC, 2006, Philadelphie, United States. pp.1-8
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hal-00164992v1
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An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel ManipulatorsEuropean Conference on Mechanism Science, Feb 2006, Obergurgl, Austria. pp.1-12
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Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks3rd International Conference on Informatics in Control, Aug 2006, Setubal, Portugal. pp.1-7
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Working and Assembly Modes of the Agile EyeIEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322
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Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel RobotICRA, Apr 2005, Barcelone, Spain. pp.1-6
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Analyse Comparative des Manipulateurs 3R à Axes OrthogonauxCongrès international Conception et Modélisation des Systèmes Mécaniques, Mar 2005, Hammamet, Tunisie. pp.1-12
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A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile EyeVirtual Concept, Nov 2005, France. pp.1-6
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An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric SimplificationsProceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12
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hal-00165015v1
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The Orthoglide: Kinematics and Workspace Analysis2004, Sestri-Levante, Italy. pp.1-10
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A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval AnalysisApr 2004, Tianjin, China. pp.1-6
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A Workspace based Classification of 3R Orthogonal Manipulators2004, Sestri-Levante, Italy. pp.1-10
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The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7
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Parametric Stiffness Analysis of the OrhtoglideInternational Symposium on Robotics, Mar 2004, Paris, France. pp.1-7
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A Classification of 3R Orthogonal Manipulators by the Topology of their WorkspaceICRA, Apr 2004, Barcelona, Spain. pp.1-6
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Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic MachineASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩
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The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining ApplicationsICRA, 2003, Coimbra, Portugal. pp.1-6
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Classification of one family of 3R positioning Manipulators2003, Coimbra, Portugal. pp.1-6
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hal-00145367v1
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A New Concept of Modular Parallel Mechanism for Machining Applications2003, Taipei, Taiwan. pp.1-6
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A Novel method for the design of 2-DOF Parallel mechanisms for machining applications2002, Caldes de Malavella, Spain. pp.1-11
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hal-00145299v1
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Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide2002, Québec, Canada. pp.1-9
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hal-00145281v1
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Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The OrthoglideIDMME, 4ème conférence internationale sur la conception et la fabrication intégrées en mécanique, May 2002, Clermont-Ferrand, France. pp.1-10
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hal-00145262v1
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The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators2002, Clermont-Ferrand, France. pp.1-10
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hal-00145264v1
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L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope2ème Assises Machines et Usinage à Grande Vitesse, Mar 2002, France. pp.1-9
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Workspace Analysis of the Orthoglide using Interval Analysis2002, Caldes de Malavella, Spain. pp.1-10
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hal-00145304v1
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Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'OrthoglideCIFA, Jul 2002, Nantes, France. pp.1-6
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hal-00162630v1
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Robots à Architecture Complexe : De la Conception à la Performance et l'AutonomieROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11
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lirmm-00268624v1
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The Isoconditioning Loci of Planar Three-DOF Parallel ManipulatorsASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩
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hal-00168513v1
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The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance CriteriaThe 3rd INTERNATIONAL CONFERENCE ON METAL CUTTING AND HIGH SPEED MACHINING, 2001, Metz, France. pp.1-10
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hal-00145122v1
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A Comparative Study of Parallel Kinematic Architectures for Machining ApplicationsWCK, May 2001, Séoul, South Korea. pp.1-6
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hal-00165167v1
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Kinematic Analysis of a New Parallel Machine Tool: the OrthoglideARK, 2000, Slovenia. pp.1-11
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hal-00165169v1
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Conception Isotropique d'une morphologie parallèle : Application à l'usinageIDMME, May 2000, Montréal, Canada. pp.1-10
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hal-00162571v1
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A New Three-DOF Parallel Mechanism: Milling Machine Applications2000, Chemnitz, Germany. pp.1-9
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hal-00145120v1
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On the characterization of the regions of feasible trajectories in the workspace of parallel manipulatorsTenth World Congress On The Theory Of Machines And Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
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hal-00428530v1
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Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel ManipulatorsTenth World Congress on the Theory of Machines and Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
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hal-00145125v1
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La parcourabilité pour les manipulateurs pleinement parallèlesLa Plagne AIP-Priméca, 1999, La Plagne, France. pp.1-8
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hal-00145086v1
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The Kinematic design of a 3-dof Hybrid ManipulatorIntegrated Design and Manufacturing in Mechanical Engineering, 1998, Compiègne, France. pp.1-8
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hal-00145047v1
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Moveability and Collision Analysis for Fully-Parallel ManipulatorsRoManSy, Jul 1998, Paris, France. pp.1-8
Communication dans un congrès
hal-00162334v1
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Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive StudyARK, 1998, Austria. pp.117-126
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hal-00162563v1
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Working Modes and Aspects in Fully-Parallel ManipulatorInternational Conference on Robotics and Automation, May 1998, Bruxelle, Belgium. pp.1964-1969, ⟨10.1109/ROBOT.1998.680601⟩
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The Isoconditioning Loci of A Class of Closed-Chain ManipulatorsMay 1998, Bruxelle, Belgium. pp.1970-1976
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hal-00162274v1
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Uniqueness Domains in the Workspace of Parallel Manipulators1997, Nantes, France. pp.1-6
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hal-00145036v1
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Definition sets for the Direct Kinematics of Parallel Manipulators8th International Conference in Advanced Robotics, Jul 1997, Monterey, United States. pp.859 - 864, ⟨10.1109/ICAR.1997.620282⟩
Communication dans un congrès
hal-00144986v1
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Using Maple to analyse parallel robotsJürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩
Chapitre d'ouvrage
hal-02289699v1
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Hidden cuspsJadran Lenarcic; Jean-Pierre Merlet. Advances in Robot Kinematics 2016, 4, Springer, pp.129-138, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_14⟩
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hal-01309185v1
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Kinetostatic Analysis and Solution Classification of a Planar Tensegrity MechanismComputational Kinematics. Mechanisms and Machine Science, 50, Springer, Cham, 2017, 978-3-319-60866-2. ⟨10.1007/978-3-319-60867-9_48⟩
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hal-01525686v1
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Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation ModesNew Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩
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hal-01592330v1
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Nonsingular change of assembly mode without any cuspJadran Lenarcic; Oussama Khatib. Advances in Robot Kinematics, Springer, pp.105-112, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_12⟩
Chapitre d'ouvrage
hal-00959842v1
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Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform RotationRomansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩
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hal-00687694v1
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Perturbation of symmetric 3-RPR manipulators and asymptotic singularitiesF. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩
Chapitre d'ouvrage
hal-00674039v1
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Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspaceLenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0
Chapitre d'ouvrage
hal-00687005v1
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Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg ObservationsJee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008
Chapitre d'ouvrage
hal-00428919v1
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The Isoconditioning Loci of Planar Three-Dof Parallel ManipulatorsRecent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩
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hal-00463599v1
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