Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...
Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...
Design optimization of parallel manipulators for high-speed precision machining applications (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...
Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...
Stiffness Analysis of Overconstrained Parallel Manipulators (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...
Stiffness Analysis of Overconstrained Parallel Manipulators (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...
Stiffness Analysis of Overconstrained Parallel Manipulators (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...
Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...
Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...
Design optimization of parallel manipulators for high-speed precision machining applications (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...
Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...
Design optimization of parallel manipulators for high-speed precision machining applications (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...
Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)
Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...
Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
GENETIC ALGORITHMS IN COMPUTER-AIDED DESIGN OF ROBOTIC MANUFACTURING CELLS (2007)
Abstract: Computer-aided design of modern robotic manufacturing cells involves solution of a number of complicated optimization problems that are related to equipment selection, scheduling, routing...
Kinematic calibration of orthoglide-type mechanisms (2007)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2007)
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2007)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...
The Orthoglide: Kinematics and Workspace Analysis (2007)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
Kinematic Calibration of the Orthoglide-Type Mechanisms (2007)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...
Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)
Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)
Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...
Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)
Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...
Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
Kinematic calibration of orthoglide-type mechanisms (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...
Kinematic calibration of orthoglide-type mechanisms (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)
Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...
The Orthoglide: Kinematics and Workspace Analysis (2004)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
The Orthoglide: Kinematics and Workspace Analysis (2004)
Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...
Dezhen Song, Ken Goldberg, Anatoly Pashkevich
This paper, Part II, focuses on algorithms. The ShareCam problem is to find a camera frame that optimizes a measure of total user satisfaction. We present a grid-based approximation algorithm: given...
Sharing Resources over the Internet Using Network Optimisation Techniques (2000)
Eugene Levner, Anatoly Pashkevich, Maxim Pashkevich, Gerard Sierksma, Milan Vlach
This paper is a contribution to a challenging problem of the global design and standardisation of industrial robotic systems using new possibilities provided by modern information technologies and...