Stéphane CARO
Présentation
Stéphane Caro works as Research Director at the National Centre for Scientific Research (CNRS) and in the Laboratory of Digital Sciences of Nantes (LS2N), UMR CNRS 6004, France. Dr. Caro received his Engineering and M.Sc. degrees in mechanical engineering from Ecole Centrale Nantes, Nantes, France, in 2001, and his Doctorate degree in mechanical engineering from the University of Nantes in 2004. He was a Post-doctoral Fellow in the Centre for Intelligent Machines, McGill University, Montreal, QC, Canada from 2005 to 2006. He was awarded the accreditation to supervise research (HDR) in 2014. Dr. Caro is the head of the “Robots and Machines for Manufacturing Society and Services” (RoMaS) Team at LS2N. He is also a part-time researcher at IRT Jules Verne, a mutualized industrial research institute. Moreover, he is a lecturer at Ecole Centrale de Nantes. He is a member of ASME and IEEE. He is one of the two recipients of the 2018 Reviewers of the Year for the ASME Journal of Mechanisms and Robotics. He is one of two recipients of the 2019 Crossley Award, Mechanism and Machine Theory. He is associate editor for the ASME Journal of Mechanisms and Robotics, the IEEE Robotics and Automation Letters and the International Journal of Robotics Research. He is member of both IFToMM of both ASME Mechanisms and Robotics Committee and IFToMM Technical Committee for Computational Kinematics. Dr. Caro’s research focuses on design, modeling and control of cable-driven parallel robots and reconfigurable parallel robots. He is the author of 102 papers published in international journals, 205 papers presented in international conferences, 67 contributions in books and 10 patents. He is ranked in Stanford's 2022, 2023 and 2025 lists of the 2% most cited scientists in their discipline. E-mail address: stephane.caro@ls2n.fr Tel: +33 (0)2 40 37 69 68 LS2N - Centrale Nantes
Room 505
1, rue de la Noë
44 321 Nantes CEDEX3
FRANCE
Publications
Publications
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New Frontiers in Parallel RobotsMachines, 11 (3), pp.386, 2023, ⟨10.3390/machines11030386⟩ |
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Special Section: Theory and Design of Reconfigurable Mechanisms and RobotsJournal of Mechanisms and Robotics, 14 (6), 2022, ⟨10.1115/1.4055836⟩ |
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Data Science and AI-Based Optimization in Scientific ProgrammingScientific Programming, 2019, pp.1-3, 2019, ⟨10.1155/2019/7154765⟩ |
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Geometrical design analysis of a URRR-URR parallel mechanism for percutaneous interventionsMESROB 2025, the 9th International Workshop on New Trends in Medical and Service Robotics, Jul 2025, Poitiers, France |
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Kinematic Modeling and Task-Based Design of a URRR-URR Parallel Mechanism for Percutaneous InterventionsASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2025, Anaheim, United States |
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Static Model of Nimbl’Bot RobotASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2025, Anaheim, United States. ⟨10.1115/DETC2025-168569⟩ |
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Robotisation de la pose de briques de terre : Une approche LowTech-HighTech propice au développement de solutions durables pour le domaine de la constructionCNRIUT 2025 Bayonne - Pays Basque, IUT de Bayonne Pays Basque, Mar 2025, Bayonne, France |
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Real-Time Geometry Calculation Method of MCDPR Based on 3D LocalizationCableCon 2025, Jul 2025, Hong Kong, France. pp.326-337, ⟨10.1007/978-3-031-94608-0_26⟩ |
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Investigating the Stiffness of a Planar Cable-Driven Parallel Robot: Modeling and Experimental ValidationCableCon 2025, Darwin Lau; Tobias Bruckmann; Andreas Pott, Jul 2025, Hong Kong (China), China. pp.130-140, ⟨10.1007/978-3-031-94608-0_11⟩ |
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A Planar Four-Actuator Six-Cable-Driven Parallel Robot with a Large Rotational WorkspaceCableCon 2025, Jul 2025, Hong Kong, China. pp.286-297, ⟨10.1007/978-3-031-94608-0_23⟩ |
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Advancements in Human-Cable Collision Detection and Management in Cable-Driven Parallel RobotsThe Seventh International Conference on Cable-Driven Parallel Robots, Jul 2025, Hong Kong, China. ⟨10.1007/978-3-031-94608-0_20⟩ |
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Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.8898-8904, ⟨10.1109/ICRA57147.2024.10610384⟩ |
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Design and Prototyping of a Cable-Driven Parallel Robot with a Reconfigurable Moving-Platform for Pick-and-Place OperationsThe 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR), Jun 2024, Chicago, United States. pp.425-432, ⟨10.1109/ReMAR61031.2024.10617866⟩ |
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Design of a SM-APID Control for Rigid-Body Transportation Under the Effects of WindEUCOMES 2024 9th European Conference on Mechanism Science, IFToMM - Giulio Rosati, Alessandro Gasparetto, Marco Ceccarelli, Sep 2024, Padova, Italy. pp.125-135, ⟨10.1007/978-3-031-67295-8_15⟩ |
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A Class of Planar 3-Dof Cable-Driven Parallel Robots with Decoupled WorkspaceMechanism and Machine Theory Symposium, celebrating 60 years since the journal's foundation, Andrés Kecskeméthy, Paulo Flores, Jun 2024, Guimarães, Portugal |
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Compound Cable-driven Parallel Robot for a Larger Wrench-feasible WorkspaceAdvances in Robot Kinematics 2024, Jul 2024, Ljubljana, Slovenia. pp.130-139, ⟨10.1007/978-3-031-64057-5_16⟩ |
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Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.4744-4750, ⟨10.1109/ICRA57147.2024.10610703⟩ |
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Constant Distance and Orientation Following of an Unknown Surface with a Cable-Driven Parallel RobotICRA 2023 - IEEE International Conference on Robotics and Automation, IEEE, May 2023, London, United Kingdom. pp.1-7 |
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Workspace Determination of Kinematic Redundant Manipulators using a Ray-Based MethodThe ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE 2023), ASME, Aug 2023, Boston (Massachusetts), United States |
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Elasto-Static Model and Accuracy Analysis of a Large Deployable Cable-Driven Parallel RobotThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France |
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Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel RobotThe ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2023), ASME, Aug 2023, Boston (Massachusetts), United States |
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Dynamic Parameter Identification for Cable-Driven Parallel RobotsThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France |
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Toward the Creation of a Hybrid 4-UPS CDPRThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France |
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Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel RobotsThe ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE 2023), ASME, Aug 2023, Boston (Massachusetts), United States. ⟨10.1115/DETC2023-116640⟩ |
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Stability Analysis of Profile Following by a CDPR using Distance and Vision SensorsCableCon 2023 - The Sixth International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.1-12 |
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FEM-based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and SaggingCableCon 2023: 6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. ⟨10.1007/978-3-031-32322-5_5⟩ |
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Transmission Systems to Extend the Workspace of Planar Cable-Driven Parallel RobotsThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France |
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Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generatorthe ASME 2022 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE 2022, Aug 2022, St. Louis, Missouri, United States |
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Experimental validation of two semi-implicit homogeneous discretized differentiators on the CRAFT cable-driven parallel robotCFM2022, Congrès Français de Mécanique, Aug 2022, Nantes, France |
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Geometrical modelling of a Cable-Driven Parallel Robot Winch25ème Congrès Français de Mécanique Nantes, Aug 2022, Nantes, France |
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Polymer Cable Characterization in Cable-Driven Parallel Robots25ème Congrès Français de Mécanique Nantes, Aug 2022, Nantes, France |
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Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot39th International Symposium on Automation and Robotics in Construction (ISARC 2022), Jul 2022, Bogota, Colombia |
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Design and Kinematic Analysis of a Novel 2-DOF Closed-Loop Mechanism for the Actuation of Machining RobotsThe ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 45th Mechanisms and Robotics Conference (MR), Aug 2021, Online, United States |
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Manipulating Deformable Objects with a Dual-arm RobotROBOVIS 2021 : 2nd International Conference on Robotics, Computer Vision and Intelligent Systems, Oct 2021, Valletta, Malta. pp.48-56, ⟨10.5220/0010707600003061⟩ |
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Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel RobotsReMAR 2021 - 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Aug 2021, Toronto, Canada |
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Visual Servoing of Cable-Driven Parallel Robots with Tension ManagementICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi'an, China. pp.6861-6867 |
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Control Stability Workspace for a Cable-Driven Parallel Robot Controlled by Visual ServoingCableCon 2021 - 5th International Conference on Cable-Driven Parallel Robots, Jul 2021, virtual, France. pp.284-296, ⟨10.1007/978-3-030-75789-2_23⟩ |
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Kinematic Stability based AFG-RRT* Path Planning for Cable-Driven Parallel RobotsThe 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China |
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Moving-Platform Pose Estimation for Cable-Driven Parallel RobotsIROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. pp.1-8, ⟨10.1109/IROS51168.2021.9636284⟩ |
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Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network ApproachThe ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2021, 45th Mechanisms and Robotics Conference (MR), Aug 2021, Online, United States |
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Design of a Planar Cable-Driven Parallel Crane without Parasitic TiltThe ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2021, 45th Mechanisms and Robotics Conference (MR), Aug 2021, Online, United States. pp.1-10 |
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A new control scheme of cable-driven parallel robot balancing between sliding mode and linear feedbackIFAC 2020: 21st IFAC World Congress, Jul 2020, Berlin, Germany. pp.9936-9943, ⟨10.1016/j.ifacol.2020.12.2708⟩ |
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On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile CranesThe 5th International Conference on Robotics and Automation Engineering, Nov 2020, Singapore, Singapore. ⟨10.1109/icrae50850.2020.9310900⟩ |
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A Cable-Driven Parallel Robot with Full-Circle End-Effector RotationsThe ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2020, Aug 2020, Saint-Louis, Missouri, United States. ⟨10.1115/1.4049631⟩ |
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Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Nov 2019, Macau, China. pp.6788-6793, ⟨10.1109/IROS40897.2019.8968133⟩ |
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Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel RobotsCableCon 2019 - Fourth International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.1-12, ⟨10.1007/978-3-030-20751-9_7⟩ |
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Control and Configuration Planning of an Aerial Cable Towed SystemThe 2019 IEEE International Conference on Robotics and Automation (ICRA~2019), May 2019, Montreal, Canada. ⟨10.1109/ICRA.2019.8794396⟩ |
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Torsional Stability of a U–joint based Parallel Wrist Mechanism Featuring Infinite TorsionThe 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. pp.147-154, ⟨10.1007/978-3-319-78963-7_20⟩ |
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A Cable-Driven Parallel Robot With an Embedded Tilt-Roll WristASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2019, Anaheim, United States. ⟨10.1115/DETC2019-98146⟩ |
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A parametric Kantorovich theorem with application to tolerance synthesisThe 18th International Symposium on Scientific Computing, Computer Arithmetic, and Verified Numerical Computations, Sep 2018, Tokyo, Japan |
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Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017, Aug 2017, Quebec City, Canada. pp.37-49, ⟨10.1007/978-3-319-61431-1_4⟩ |
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Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement WorkcellICINCO 2018 : 15th International Conference of Informatics in Control, Automation and Robotics, Jul 2018, Porto, Portugal. pp.567-575, ⟨10.5220/0006848105770585⟩ |
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Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel RobotsThe 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨10.1007/978-3-319-78963-7_31⟩ |
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Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel RobotsThe ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86182⟩ |
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Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite VesselsSYROCO 2018 : 12th IFAC Symposium On Robot Control, IFAC, Aug 2018, Budapest, Hungary. ⟨10.1016/j.ifacol.2018.11.516⟩ |
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Algebraic Analysis of a 3-RUU Parallel ManipulatorThe 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨10.1007/978-3-319-93188-3_17⟩ |
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Pulleys and Force Sensors Influence on Payload Estimation of Cable-Driven Parallel Robots2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594171⟩ |
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Available Wrench Set for Planar Mobile Cable-Driven Parallel RobotsIEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. ⟨10.1109/ICRA.2018.8461199⟩ |
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Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel RobotsThe 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨10.1007/978-3-319-93188-3_47⟩ |
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Parasitic Inclinations in Cable-Driven Parallel Robots using Cable LoopsThe 28th CIRP Design Conference, May 2018, Nantes, France. pp.296-301, ⟨10.1016/j.procir.2018.02.013⟩ |
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Design of a Cable-Driven Parallel Robot with Grasping DeviceThe 28th CIRP Design Conference, May 2018, Nantes, France. pp.290-295, ⟨10.1016/j.procir.2018.03.105⟩ |
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A Dual Reconfigurable 4-rRUU Parallel Manipulator4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨10.1109/REMAR.2018.8449902⟩ |
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Kinetostatic Analysis of a Simple Cable-Driven Parallel CraneASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86173⟩ |
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Computer-aided design and optimization of a redundant robotic system for automated fiber placement processAIP Conference Proceedings, Oct 2018, Surabaya, Indonesia. ⟨10.1063/1.5046258⟩ |
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Control Solution for a Cable-Driven Parallel Robot with Highly Variable PayloadASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. pp.1429-1436, ⟨10.1115/DETC2018-85304⟩ |
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Wrench Capability Analysis of Aerial Cable Towed SystemsASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Aug 2018, Québec, Canada. ⟨10.1115/DETC2018-85378⟩ |
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Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel RobotsThe Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Aug 2017, Québec, Canada. ⟨10.1007/978-3-319-61431-1_23⟩ |
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Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel RobotThe Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Aug 2017, Québec, Canada. ⟨10.1007/978-3-319-61431-1_11⟩ |
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Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨10.1007/978-3-319-60867-9_57⟩ |
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Calibration of Industrial Robots with Pneumatic Gravity Compensators2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2017, Munich, Germany. ⟨10.1109/AIM.2017.8014031⟩ |
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A Reconfigurable Compliant Four-Bar Mechanism with Multiple Operation ModesASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2017), Aug 2017, Cleveland, United States. ⟨10.1115/DETC2017-67441⟩ |
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Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated PlatformsThe 7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨10.1007/978-3-319-60867-9_32⟩ |
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Twist Feasibility Analysis of Cable-Driven Parallel Robots3rd International Conference on Cable-Driven Parallel Robots, Aug 2017, Québec, Canada. pp.128-139, ⟨10.1007/978-3-319-61431-1_12⟩ |
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Optimal Trajectories Generation in Robotic Fiber Placement SystemsThe 4th International Conference on Manufacturing and Industrial Technologies, May 2017, Lisbon, Portugal. ⟨10.1088/1757-899X/212/1/012009⟩ |
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Dual-Triangular Remote Centre of Motion Mechanism With Cable Transmission4th Joint International Conference on Multibody System Dynamics (IMSD2016), May 2016, Montréal, Canada |
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Stiffness of serial and quasi-serial manipulators: comparison analysis2016 International Conference on Mechanical, System and Control Engineering (ICMSC 2016), May 2016, Moscow, Russia |
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Mobility Analysis of a Large Deployable Reflector AntennaMobility Analysis and Kinematic Performance of OSS Reflector Deployable Structure, Nov 2016, Oxford, United Kingdom |
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Operation Modes Comparison of a Reconfigurable 3-PRS Parallel Manipulator based on Kinematic PerformanceASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2016, Aug 2016, Charlotte, United States. ⟨10.1115/DETC2016-59804⟩ |
Identification of the Dynamic Parameters of NaVARo, a parallel robot with multiple actuation modesThe 4th Joint International Conference on Multibody System Dynamics, May 2016, Montreal, Canada |
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A Framework for the Control of a Parallel Manipulator with Several Actuation Modes14th International Conference on Industrial Informatics, Jul 2016, Poitiers, France |
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Dimensionally Homogeneous Extended Jacobian and Condition NumberThe 2nd International Conference on Mechanical Engineering (ICOME 2015), Sep 2015, Patra Jasa, Bali, Indonesia |
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A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel RobotsICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1613-1620, ⟨10.1109/ICRA.2015.7139404⟩ |
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Synthesis of 3-RPS Parallel Manipulators based on Prescribed Operation ModesThe 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France |
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A study of Σ 2 singularities in the 3-RPS Parallel ManipulatoriNaCoMM 2015, Dec 2015, Kanpur, India |
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Design of 3-RPS Parallel Manipulators based on Operation ModesThe 14th IFToMM World Congress in Mechanism and Machine Science, Oct 2015, Taipei, Taiwan |
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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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Operation Modes and Singularities of 3-PRS Parallel Manipulators with Different Arrangements of P-jointsASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-47935⟩ |
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Type Synthesis of Two DOF Hybrid Translational Parallel ManipulatorsThe 2nd International Conference on Mechanical Engineering (ICOME 2015), Sep 2015, Patra Jasa, Bali, Indonesia |
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Dimensioning of Cable-Driven Parallel Robot Actuators, Gearboxes and Winches according to the Twist Feasible WorkspaceCASE: Conference on Automation Science and Engineering, IEEE, Aug 2015, Göteborg, Sweden. pp.99-105, ⟨10.1109/CoASE.2015.7294046⟩ |
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A New Methodology for Tolerance Synthesis of Parallel ManipulatorsIFToMM 2015, 2015, Taipei, Taiwan. ⟨10.6567/IFToMM.14TH.WC.OS12.017⟩ |
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Operation Modes and Self-motions of a 2-RUU Parallel ManipulatorThe 3rd IFToMM Symposium on Mechanism Design for Robotics, Jun 2015, Aalborg, Denmark |
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Driving simulator: an innovative tool to test new road infrastructuresTRA - Transport Research Arena, Apr 2014, Paris, France. 10p |
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ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface SoftwareThe Second International Conference on Cable-Driven Parallel Robots (CableCon 2014), Aug 2014, Duisburg, Germany |
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Optimal Design of Cable-Driven Parallel Robots for Large Industrial StructuresICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩ |
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Assembly Conditions of Parallel Manipulators Considering Geometric Errors, Joint Clearances, Link Flexibility and Joint Elasticity2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. ⟨10.1109/ICRA.2014.6907450⟩ |
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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large StructuresCableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩ |
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Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a RailIEEE/ASME International Conference on Advanced Intelligent Mechatronics , Jul 2014, Besançon, France. ⟨10.1109/AIM.2014.6878332⟩ |
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Experimental study on geometric and elastostatic calibration of industrial robot for milling application2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1689-1696, ⟨10.1109/AIM.2014.6878327⟩ |
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Workpiece Placement Optimization for Machining Operations with a KUKA KR270-2 Robot2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, France. ⟨10.1109/ICRA.2013.6630982⟩ |
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Optimal Design of the IRSBot-2 Based on an Optimized Test TrajectoryASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Aug 2013, Portland, Oregon, United States. ⟨10.1115/DETC2013-13037⟩ |
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Modelling of the gravity compensators in robotic manufacturing cellsThe IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.820-825 |
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Conceptual design of Schoenflies motion generators based on the wrench graphASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. ⟨10.1115/DETC2013-13084⟩ |
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Efficiency Improvement of Measurement Pose Selection Techniques in Robot CalibrationThe IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.832-837 |
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Measuring How Well a Structure Supports Varying External WrenchesThe Second Conference on Mechanisms, Transmissions and Applications (MeTrApp 2013), Oct 2013, Bilbao, Spain |
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Advanced robot calibration using partial pose measurements18th International Conference on Methods and Models in Automation and Robotics (MMAR 2013), Aug 2013, Międzyzdroje, Poland. pp.264-269 |
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Workpiece Placement Optimization in Robotic-Based ManufacturingIFAC 2013, Jun 2013, Saint-Pétersbourg, Russia. ⟨10.3182/20130619-3-RU-3018.00211⟩ |
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Identification of geometrical and elastostatic parameters of heavy industrial robots2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany. pp.3707-3714, ⟨10.1109/ICRA.2013.6631098⟩ |
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Robust solutions for a robotic manipulator optimization problemThe 5th International Work-Conference on the Interplay Between Natural and Artificial Computation, Jun 2013, Mallorca, Spain. pp.451-460, ⟨10.1007/978-3-642-38622-0_47⟩ |
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Practical identifiability of the manipulator link stiffness parametersASME 2013 International Mechanical Engineering Congress & Exposition, Nov 2013, San Diego, CA, United States. pp.1-10 |
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Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory9th International Conference on Informatics in Control Automation and Robotics, Jul 2012, Rome, Italy. pp.208-285 |
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Elastostatic modeling and shape optimization of a 6-dof haptic interface device11th Biennial Conference on Engineering Systems Design and Analysis, ASME/ESDA 2012, Jul 2012, Nantes, France. pp.1-10, ⟨10.1115/ESDA2012-82369⟩ |
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Constraint Singularity-Free Design of the IRSBot-2Advances in Robot Kinematics, Jun 2012, Innsbruck, Austria |
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OPTIMALITY CRITERIA FOR MEASUREMENT POSES SELECTION IN CALIBRATION OF ROBOT STIFFNESS PARAMETERSProceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. pp.1-10, ⟨10.1115/ESDA2012-82213⟩ |
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Constraint and Singularity Analysis of the ExechonThe Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions (MTM) and the International Conference on Robotics (Robotics’12), Jan 2012, Clermont-Ferrand, France. pp.141-150, ⟨10.4028/www.scientific.net/AMM.162.141⟩ |
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Stiffness Modeling of Robotic-Manipulators Under Auxiliary LoadingsASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), Aug 2012, Chicago, United States. ⟨10.1115/DETC2012-70457⟩ |
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A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots18th international conference on Principles and Practice of Constraint Programming, 2012, Québec City, Canada. pp.867-882 |
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Workpiece Placement Optimization of Six-Revolute Industrial Serial Robots for Machining OperationsASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. ⟨10.1115/ESDA2012-82559⟩ |
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Trajectory Generation for High Speed Pick-and-Place RobotsASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Jul 2012, Nantes, France. ⟨10.1115/ESDA2012-82197⟩ |
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Control of a Lower Mobility Dual Arm System10th IFAC Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.307-312, ⟨10.3182/20120905-3-HR-2030.00120⟩ |
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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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IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed OperationsASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩ |
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Design of Experiments for Calibration of Planar Anthropomorphic ManipulatorsAdvanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on, Jul 2011, Budapest, Hungary. pp.576 - 581, ⟨10.1109/AIM.2011.6027017⟩ |
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IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide20ème Congrès Français de Mécanique, Aug 2011, Besançon, France |
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Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley AlgebraThe 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Jun 2011, Montréal, Canada. pp.1-12 |
Développement d’une méthodologie pour l’identification des raideurs articulaires des robots sériels afin d’optimiser leur exploitation en usinageRoadef 2011, Mar 2011, Saint-Etienne, France |
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Cartesian stiffness matrix of manipulators with passive joints: analytical approachIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1-8, ⟨10.1109/IROS.2011.6094419⟩ |
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Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated NacelleAdvances in Robot Kinematics, Jun 2010, Piran-Portoroz, Slovenia. pp.273-282 |
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Finding the Maximal Pose Error in Robotic Mechanical Systems Using Constraint ProgrammingThe Twenty Third International Conference on Industrial, Engineering & Other Applications of Applied Intelligent Systems (IEA-AIE 2010), Jun 2010, Cordoba, Spain |
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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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A methodology for joint stiffness identification of serial robots2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Oct 2010, Taipei, France. pp.464-469, ⟨10.1109/IROS.2010.5652140⟩ |
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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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The Kinematic Sensitivity of Robotic Manipulators to Joint ClearancesASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2010, Montreal, Canada. ⟨10.1115/DETC2010-28635⟩ |
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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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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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Kinetostatic Performance of a Planar Parallel Mechanism with Variable ActuationAdvances in Robot Kinematics, Jun 2008, France. pp.1-10 |
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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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The Multiobjective Optimization of a Prismatic DriveASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Sep 2007, Las Vegas, United States. pp.1-9, ⟨10.1115/DETC2007-34795⟩ |
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The Kinetostatic Optimization of a Novel Prismatic Drive12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6 |
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A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic ArchitecturesINTERNATIONAL CONFERENCE ON ENGINEERING DESIGN, ICED'07, Aug 2007, Paris, France. pp.1-11 |
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Graphical User Interface to Solve the Burmester ProblemIFToMM World Congress, Jun 2007, Besançon, France. pp.1-8 |
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Complexity-Based Rules for the Conceptual Design of Robotic Architectures10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.1-10 |
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Comparison of Robustness Indices and Introduction of a Tolerance Synthesis Method for MechanismsCanadian Congress of Applied Mechanics, May 2005, Montreal, Canada. pp.1-2 |
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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 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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Etat de l'art de la Conception Robuste de MécanismesJournée AIP-PRIMECA, Jan 2002, Cachan, France. pp.1-10 |
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The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators2002, Clermont-Ferrand, France. pp.1-10 |
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An Origami-Inspired Gripper with Passive Bistable Grasping Capability: Design and ValidationIntelligent Robotics and Applications, 15201, Springer Nature Singapore, pp.266-277, 2025, Lecture Notes in Computer Science, ⟨10.1007/978-981-96-0771-6_20⟩ |
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A Preliminary Study of Factors Influencing the Stiffness of Aerial Cable Towed SystemsROMANSY 24 - Robot Design, Dynamics and Control, 606, Springer International Publishing, pp.272-282, 2022, CISM International Centre for Mechanical Sciences, ⟨10.1007/978-3-031-06409-8_29⟩ |
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Stiffness and Transparency of a Collaborative Cable-Driven Parallel RobotAdvances in Robot Kinematics 2022, 24, Springer International Publishing, pp.101-109, 2022, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-031-08140-8_12⟩ |
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An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel RobotsAdvances in Robot Kinematics 2022, 24, Springer International Publishing, pp.110-121, 2022, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-031-08140-8_13⟩ |
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Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term RunningIn: Gouttefarde M., Bruckmann T., Pott A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, 104, Springer, pp.375-388, 2021, ⟨10.1007/978-3-030-75789-2_30⟩ |
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Unsupervised Neural Network Based Forward Kinematics for Cable-Driven Parallel Robots with Elastic CablesMarc Gouttefarde; Tobias Bruckmann; Andreas Pott. Cable-Driven Parallel Robots. Proceedings of the 5th International Conference on Cable-Driven Parallel Robots, 104, Springer, pp.63-76, 2021, Mechanisms and Machine Science, 978-3-030-75788-5. ⟨10.1007/978-3-030-75789-2_6⟩ |
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Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel RobotsSaïd Zeghloul Med Amine Laribi Marc Arsicault. Mechanism Design for Robotics: MEDER 2021, Springer, pp.90-101, 2021, ⟨10.1007/978-3-030-75271-2_10⟩ |
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FASTKIT: A Mobile Cable-Driven Parallel Robot for LogisticsAdvances in Robotics Research: From Lab to Market, 132, Springer, pp.141-163, 2020, Springer Tracts in Advanced Robotics 978-3-030-22327-4. ⟨10.1007/978-3-030-22327-4_8⟩ |
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Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel RobotSpringer. In: Pisla D., Corves B., Vaida C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, 89, Springer, pp.440-447, 2020, 978-3-030-55060-8. ⟨10.1007/978-3-030-55061-5_50⟩ |
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Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel RobotsIn : Lenarcic J., Siciliano B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, 15, pp.209-217, 2020, 978-3-030-50974-3. ⟨10.1007/978-3-030-50975-0_26⟩ |
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Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained EnvironmentIn: Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham, pp.257-268, 2019, ⟨10.1007/978-3-030-20751-9_22⟩ |
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Kinematic Analysis and Design Optimization of a 4-rRUU Parallel ManipulatorAdvances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩ |
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Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel RobotsIn: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham, pp.410-418, 2019, ⟨10.1007/978-3-319-93188-3_47⟩ |
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Operation modes and workspace of a 4-rRUU Parallel ManipulatorIn: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp.649-657, 2019, ⟨10.1007/978-3-030-20131-9_65⟩ |
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U-Joint Induced Torsional Instabilities of a Family of 3-DOF Partially-Decoupled Spherical Parallel ManipulatorsIn: Wang D., Petuya V., Chen Y., Yu S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, 79, pp.332-343, 2019, ⟨10.1007/978-981-15-0142-5_33⟩ |
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Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll WristIn: Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham, pp.109-120, 2019, ⟨10.1007/978-3-030-20751-9_10⟩ |
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Cable-Driven Parallel Robot Simulation Using Gazebo and ROSIn: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol. 584, Springer, Cham., pp.288-295, 2019, 978-3-319-78962-0. ⟨10.1007/978-3-319-78963-7_37⟩ |
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Algebraic Analysis of a 3-RUU Parallel ManipulatorIn: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham, pp.141-149, 2019, ⟨10.1007/978-3-319-93188-3_17⟩ |
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Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel RobotsIn: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), Vol. 584, Springer, Cham., pp.238-246, 2019, ⟨10.1007/978-3-319-78963-7_31⟩ |
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Design of Reconfigurable Cable-Driven Parallel RobotsE 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⟩ |
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Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel RobotsJ 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⟩ |
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Manipulator Motion Planning in Redundant Robotic System for Fiber Placement ProcessWenger P.; Flores P. New Trends in Mechanism and Machine Science. , 43, Springer, pp.243-252, 2017, Mechanisms and Machine Science, 9783319441559. ⟨10.1007/978-3-319-44156-6_25⟩ |
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Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel RobotLenarcic J.; Merlet JP. Advances in Robot Kinematics 2016, 4, pp.321-330, 2017, Springer Proceedings in Advanced Robotics., ⟨10.1007/978-3-319-56802-7_34⟩ |
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Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free CircleNew Trends in Mechanism and Machine Science Theory and Industrial Applications, 43, pp.121-130, 2017, Mechanisms and Machine Science, ⟨10.1007/978-3-319-44156-6_13⟩ |
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ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface SoftwareCable-Driven Parallel Robots, Mechanisms and Machine Science, 32, Springer, pp.293-305, 2015, Mechanisms and Machine Science, ⟨10.1007/978-3-319-09489-2_21⟩ |
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Geometrical Patterns for Measurement Pose Selection in Calibration of Serial ManipulatorsLenarčič, Jadran and Khatib, Oussama. Advances in Robot Kinematics, Springer International Publishing, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_28⟩ |
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Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator ModelAdvances on Theory and Practice of Robots and Manipulators, Springer, pp.73-81, 2014, ⟨10.1007/978-3-319-07058-2_9⟩ |
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Stiffness modeling of robotic manipulator with gravity compensatorThomas 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⟩ |
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Measuring How Well a Structure Supports Varying External WrenchesNew Advances in Mechanisms, Transmissions and Applications Mechanisms and Machine Science, 17, pp.385-392, 2014, ⟨10.1007/978-94-007-7485-8_47⟩ |
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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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A Planar RRP Compliant Mechanism Based on the Singularity Analysis of a 3-US Parallel MechanismLatest Advances in Robot Kinematics, Springer Netherlands, pp.381-388, 2012, 978-94-007-4619-0. ⟨10.1007/978-94-007-4620-6_48⟩ |
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Industry-oriented Performance Measures for Design of Robot Calibration ExperimentF. Viadero and M. Ceccarelli (. New Trends in Mechanism and Machine Science, © Springer Science + Business Media Dordrecht 2013, pp.519-527, 2012, Mechanisms and Machine Science, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-355⟩ |
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Optimization of measurement configurations for geometrical calibration of industrial robotC.-Y. Su, S. Rakheja, H. Liu. Intelligent Robotics and Applications, © Springer-Verlag Berlin Heidelberg 2012, pp.132-143, 2012, Lecture Notes in Computer Science, 978-3-642-33508-2; 978-3-642-33509-9. ⟨10.1007/978-3-642-33509-9_13⟩ |
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Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner BasesAngeles J., Boulet B., Clark J.J., Kövecses J., Siddiqi K. Brain, Body and Machine. Advances in Intelligent and Soft Computing, 83, pp.341-352, 2010, 978-3-642-16258-9. ⟨10.1007/978-3-642-16259-6_26⟩ |
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Stiffness modelling of parallelogram-based parallel manipulatorsPisla 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 |
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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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A semi-implicit differentiator for identification and control of CDPRs: experimental tests2025 |
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Analytic Center Based Tension Distribution for Cable-Driven Platforms (CDPs)2023 |
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Robot comparison based on local and global indices proposed and related to FSW welding and machining[Research Report] Agence Nationale de la Recherche. 2014 |
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Optimal task placement and redundancy management[Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014 |
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Simulation results using a robot with flexibilities for machining and welding[Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014 |
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Model of dynamic interactions[Research Report] ANR‐10‐SEGI‐003‐LI1.4, Agence Nationale de la Recherche. 2013 |
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Conception Robuste de MécanismesAutomatique / Robotique. Ecole Centrale de Nantes (ECN), 2004. Français. ⟨NNT : ⟩ |