Kochen-Specker Experiments that Are Contained in a Single 24-24 One vs. Those that Are Not (2009)
Pavicic, Mladen, Megill, Norman D., Merlet, Jean-Pierre
We show that all possible 388 4-dim Kochen-Specker (KS) setups with 18 through 23 vectors and 844 setups with 24 vectors all with component values from {-1,0,1} can be obtained by stripping vectors...
Interval analysis and reliability in robotics (2009)
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are...
Interval analysis and reliability in robotics (2009)
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are...
Interval analysis for Certified Numerical Solution of Problems in Robotics (2009)
Interval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and...
Interval analysis for Certified Numerical Solution of Problems in Robotics (2009)
Interval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and...
Efficient and safe global constraints for handling numerical constraint systems (2008)
Yahia Lebbah, Claude Michel, Michel Rueher, David Daney, Jean-pierre Merlet
Abstract. Numerical constraint systems are often handled by branch and prune algorithms that combine splitting techniques, local consistencies, and interval methods. This paper first recalls the...
On the regularity of the inverse jacobian of parallel robot (2008)
Jean-pierre Merlet, Peter Donelan
Abstract Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses...
Efficient and Safe Global Constraints for Handling Numerical Constraint Systems (2008)
Yahia Lebbah, Claude Michel, Michel Rueher, David Daney, Jean-Pierre Merlet
Numerical constraint systems are often handled by branch and prune algorithms that combine splitting techniques, local consistencies and interval methods. This paper first recalls the principles of...
Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...
Workspace Analysis of the Orthoglide using Interval Analysis (2007)
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...
A Local Motion Planner for Closed-loop Robots (2007)
Global motion planners have been proposed for closed-loop robot based on the same paradigm than has been proposed for serial chains. First a sparse representation of the configuration space of the...
A Local Motion Planner for Closed-loop Robots (2007)
Global motion planners have been proposed for closed-loop robot based on the same paradigm than has been proposed for serial chains. First a sparse representation of the configuration space of the...
Kinematics of the wire-driven parallel robot MARIONET using linear actuators (2007)
Wire-driven parallel robots are special types of Gough-Stewart platform in which the rigid extensible legs are substituted by extensible wires. Usually wire length change is obtained by coiling the...
Kinematics of the wire-driven parallel robot MARIONET using linear actuators (2007)
Wire-driven parallel robots are special types of Gough-Stewart platform in which the rigid extensible legs are substituted by extensible wires. Usually wire length change is obtained by coiling the...
On solving the direct kinematics problem for parallel robots (2006)
Faugère, Jean-Charles, Merlet, Jean-Pierre, Rouillier, Fabrice
In this paper, we propose efficient methods for solving the direct kinematics problem (DKP) for parallel manipulators. By solving, we mean computing all the real solutions in a certified way, without...
On solving the direct kinematics problem for parallel robots (2006)
Faugère, Jean-Charles, Merlet, Jean-Pierre, Rouillier, Fabrice
In this paper, we propose efficient methods for solving the direct kinematics problem (DKP) for parallel manipulators. By solving, we mean computing all the real solutions in a certified way, without...
On solving the direct kinematics problem for parallel robots (2006)
Faugère, Jean-Charles, Merlet, Jean-Pierre, Rouillier, Fabrice
In this paper, we propose efficient methods for solving the direct kinematics problem (DKP) for parallel manipulators. By solving, we mean computing all the real solutions in a certified way, without...
Interval Analysis and Reliability in Robotics (2006)
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are...
On the regularity of the inverse jacobian of parallel robots (2006)
Merlet, Jean-Pierre, Donelan, Peter
Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the...
Interval Analysis and Reliability in Robotics (2006)
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are...
On the regularity of the inverse jacobian of parallel robots (2006)
Merlet, Jean-Pierre, Donelan, Peter
Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the...
On solving the direct kinematics problem for parallel robots (2006)
Faugère, Jean-Charles, Merlet, Jean-Pierre, Rouillier, Fabrice
In this paper, we propose efficient methods for solving the direct kinematics problem (DKP) for parallel manipulators. By solving, we mean computing all the real solutions in a certified way, without...
Interval Analysis and Reliability in Robotics (2006)
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are...
On the regularity of the inverse jacobian of parallel robots (2006)
Merlet, Jean-Pierre, Donelan, Peter
Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the...
On solving the direct kinematics problem for parallel robots (2006)
Faugère, Jean-Charles, Merlet, Jean-Pierre, Rouillier, Fabrice
In this paper, we propose efficient methods for solving the direct kinematics problem (DKP) for parallel manipulators. By solving, we mean computing all the real solutions in a certified way, without...
Legs Interference Checking of Parallel Robots over a Given Workspace or Trajectory (2005)
We are considering a 6 d.o.f. Gough platform that has to move within a given workspace or on a trajectory. The legs of the robot are assumed to be constituted of a set of finite cylindrical elements...
Optimal design of robots (2005)
Synthesis of robots may be decomposed into two processes: {\em structural synthesis} (determine the general arrangement of the mechanical structure such as the type and number of joints and the way...
The necessity of optimal design for parallel machines and a possible certified methodology (2005)
Although they have many advantages in term of positioning accuracy, stiffness, load capacity parallel machines have also a main drawback: their performances are very sensitive to their dimensioning....
Kinematics and synthesis of cams-coupled parallel robots (2005)
We consider parallel robots, that will be called cams-coupled parallel robots, whose mobile platform has surfaces that are constrained to be in contact at a point with surfaces located on the base....
Jacobian, manipulability, condition number and accuracy of parallelrobots (2005)
Although the concepts of jacobian matrix, manipulability and condition number have been floating around since the early beginning of robotics their real significance is not always well understood. In...
Optimal design of robots (2005)
Synthesis of robots may be decomposed into two processes: {\em structural synthesis} (determine the general arrangement of the mechanical structure such as the type and number of joints and the way...
Legs Interference Checking of Parallel Robots over a Given Workspace or Trajectory (2005)
We are considering a 6 d.o.f. Gough platform that has to move within a given workspace or on a trajectory. The legs of the robot are assumed to be constituted of a set of finite cylindrical elements...
Kinematics and synthesis of cams-coupled parallel robots (2005)
We consider parallel robots, that will be called cams-coupled parallel robots, whose mobile platform has surfaces that are constrained to be in contact at a point with surfaces located on the base....
Jacobian, manipulability, condition number and accuracy of parallelrobots (2005)
Although the concepts of jacobian matrix, manipulability and condition number have been floating around since the early beginning of robotics their real significance is not always well understood. In...
The necessity of optimal design for parallel machines and a possible certified methodology (2005)
Although they have many advantages in term of positioning accuracy, stiffness, load capacity parallel machines have also a main drawback: their performances are very sensitive to their dimensioning....
Legs Interference Checking of Parallel Robots over a Given Workspace or Trajectory (2005)
We are considering a 6 d.o.f. Gough platform that has to move within a given workspace or on a trajectory. The legs of the robot are assumed to be constituted of a set of finite cylindrical elements...
Optimal design of robots (2005)
Synthesis of robots may be decomposed into two processes: {\em structural synthesis} (determine the general arrangement of the mechanical structure such as the type and number of joints and the way...
The necessity of optimal design for parallel machines and a possible certified methodology (2005)
Although they have many advantages in term of positioning accuracy, stiffness, load capacity parallel machines have also a main drawback: their performances are very sensitive to their dimensioning....
Kinematics and synthesis of cams-coupled parallel robots (2005)
We consider parallel robots, that will be called cams-coupled parallel robots, whose mobile platform has surfaces that are constrained to be in contact at a point with surfaces located on the base....
Jacobian, manipulability, condition number and accuracy of parallelrobots (2005)
Although the concepts of jacobian matrix, manipulability and condition number have been floating around since the early beginning of robotics their real significance is not always well understood. In...
Pavicic, Mladen, Merlet, Jean-Pierre, McKay, Brendan, Megill, Norman D.
We give a constructive and exhaustive definition of Kochen-Specker (KS) vectors in a Hilbert space of any dimension as well as of all the remaining vectors of the space. KS vectors are elements of...
Exhaustive enumeration of Kochen-Specker vector systems (2004)
Pavicic, Mladen, Merlet, Jean-Pierre, Megill, Norman
The Kochen-Specker theorem is one of the fundamental theorems in non-contextuality hypothesis that assumes that the values of observables are independent of the context, i.e., of the way that...
A local planner for closed-loop robot (2004)
Global motion planners have been proposed for closed-loop robot based on the same paradigm than has been proposed for serial chains. First a sparse representation of the configuration space of the...
A local planner for closed-loop robot (2004)
Global motion planners have been proposed for closed-loop robot based on the same paradigm than has been proposed for serial chains. First a sparse representation of the configuration space of the...
Exhaustive enumeration of Kochen-Specker vector systems (2004)
Pavicic, Mladen, Merlet, Jean-Pierre, Megill, Norman
The Kochen-Specker theorem is one of the fundamental theorems in non-contextuality hypothesis that assumes that the values of observables are independent of the context, i.e., of the way that...
A local planner for closed-loop robot (2004)
Global motion planners have been proposed for closed-loop robot based on the same paradigm than has been proposed for serial chains. First a sparse representation of the configuration space of the...
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...
Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...
Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...
Workspace Analysis of the Orthoglide using Interval Analysis (2002)
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...
Workspace Analysis of the Orthoglide using Interval Analysis (2002)
Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...
this paper we consider the problem of trajectory verification for a classical GoughStewart platform i.e. we want to verify if a given trajectory obeys various criteria which define its validity, for...
Deployable Hexapod Using Tape-Springs (1998)
Blanchard, Laurent, Falzon, Frederic, Dupuis, Jean, Merlet, Jean-Pierre
In the near future of space observation systems several technical challenges come into light like multi-pupil systems conceived as free flyers or extremely high resolution (EHR) systems with large...
Lors de la conception d'un robot parallèle il est nécessaire d'évaluer certaines de ses caractéristiques afin de vérifier qu'elles sont conformes au cahier des charges. Pour certaines d'entre...
Lors de la conception d'un robot parallèle il est nécessaire d'évaluer certaines de ses caractéristiques afin de vérifier qu'elles sont conformes au cahier des charges. Pour certaines d'entre...
Lors de la conception d'un robot parallèle il est nécessaire d'évaluer certaines de ses caractéristiques afin de vérifier qu'elles sont conformes au cahier des charges. Pour certaines d'entre...
Modélisation géométrique de mécanismes de suspension automobile (1996)
Les mécanismes utilisés pour les suspensions automobiles sont en général des mécanismes en chaînes fermées à un degré de liberté. La modélisation géométrique consiste à déterminer la...
Modélisation géométrique de mécanismes de suspension automobile (1996)
Les mécanismes utilisés pour les suspensions automobiles sont en général des mécanismes en chaînes fermées à un degré de liberté. La modélisation géométrique consiste à déterminer la...
Modélisation géométrique de mécanismes de suspension automobile (1996)
Les mécanismes utilisés pour les suspensions automobiles sont en général des mécanismes en chaînes fermées à un degré de liberté. La modélisation géométrique consiste à déterminer la...
On Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects (1996)
Jean Ponce, Steve Sullivan, Attawith Sudsang, Jean-daniel Boissonnat, Jean-Pierre Merlet
: This paper addresses the problem of computing stable grasps of three-dimensional polyhedral objects. We consider the case of a hand equipped with four hard fingers and assume point contact with...
Designing a parallel manipulator for a specific workspace (1995)
We present an algorithm to determine all the possible geometries of Gough-type 6 D.O.F. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described...
Designing a parallel manipulator for a specific workspace (1995)
We present an algorithm to determine all the possible geometries of Gough-type 6 D.O.F. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described...
Designing a parallel manipulator for a specific workspace (1995)
We present an algorithm to determine all the possible geometries of Gough-type 6 D.O.F. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described...
Designing a Parallel Manipulator for a Specific Workspace (1995)
Jean-Pierre Merlet, Projet Prisme
: We present an algorithm to determine all the possible geometries of Gough-type 6 D.O.F. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described...
Espaces de travail et planification de trajectoire des robots parallèles plans (1994)
Merlet, Jean-Pierre, Mouly, Nicolas
Nous présentons des algorithmes géométriques permettant de calculer différents types d'espaces de travail des robots parallèles plans: atteignables par l'organe terminal avec une orientation...
Espaces de travail et planification de trajectoire des robots parallèles plans (1994)
Merlet, Jean-Pierre, Mouly, Nicolas
Nous présentons des algorithmes géométriques permettant de calculer différents types d'espaces de travail des robots parallèles plans: atteignables par l'organe terminal avec une orientation...
Espaces de travail et planification de trajectoire des robots parallèles plans (1994)
Merlet, Jean-Pierre, Mouly, Nicolas
Nous présentons des algorithmes géométriques permettant de calculer différents types d'espaces de travail des robots parallèles plans: atteignables par l'organe terminal avec une orientation...
Le probleme de la planification de trajectoire d'un robot parallele a 6 degres de liberte est pose ici par rapport a l'espace de travail dont nous avons determine la complexite dans de precedents...
Manipulateurs paralleles, 6eme partie : determination des espaces de travail en orientation (1993)
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Le probleme de la planification de trajectoire d'un robot parallele a 6 degres de liberte est pose ici par rapport a l'espace de travail dont nous avons determine la complexite dans de precedents...
Manipulateurs paralleles, 6eme partie : determination des espaces de travail en orientation (1993)
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Le probleme de la planification de trajectoire d'un robot parallele a 6 degres de liberte est pose ici par rapport a l'espace de travail dont nous avons determine la complexite dans de precedents...
Manipulateurs paralleles, 6eme partie : determination des espaces de travail en orientation (1993)
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Notice d'utilisation JPdraw : version 3.3 (1992)
Nous decrivons l'utilisation d'un editeur de dessin fonctionnant sur SUN dans l'environnement suntools ou sur n'importe quelle station de travail dans l'environnement X. Cet editeur genere des...
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Notice d'utilisation JPdraw : version 3.3 (1992)
Nous decrivons l'utilisation d'un editeur de dessin fonctionnant sur SUN dans l'environnement suntools ou sur n'importe quelle station de travail dans l'environnement X. Cet editeur genere des...
Une phase importante de la conception d'un robot parallele est la determination de son espace de travail. Pour un manipulateur parallele a 6 degres de liberte celui-ci est borne en raison des...
Notice d'utilisation JPdraw : version 3.3 (1992)
Nous decrivons l'utilisation d'un editeur de dessin fonctionnant sur SUN dans l'environnement suntools ou sur n'importe quelle station de travail dans l'environnement X. Cet editeur genere des...
An algorithm for the forward kinematics of general 6 D.O.F. parallel manipulators (1990)
Forward kinematics has been studied mainly for parallel manipulators with planar faces. In this case the size of the set of equations from the inverse kinematics can be reduced from 6 to 3 and this...
Dans cette quatrieme partie, nous allons nous interesser aux developpements recents du probleme de la cinematique directe, exprimee sous forme polynomiale- , ainsi qu'a son corollaire qui est a...
An algorithm for the forward kinematics of general 6 D.O.F. parallel manipulators (1990)
Forward kinematics has been studied mainly for parallel manipulators with planar faces. In this case the size of the set of equations from the inverse kinematics can be reduced from 6 to 3 and this...
Dans cette quatrieme partie, nous allons nous interesser aux developpements recents du probleme de la cinematique directe, exprimee sous forme polynomiale- , ainsi qu'a son corollaire qui est a...
Dans cette quatrieme partie, nous allons nous interesser aux developpements recents du probleme de la cinematique directe, exprimee sous forme polynomiale- , ainsi qu'a son corollaire qui est a...
Manipulateurs paralleles. 3e partie : applications (1989)
Dans cette troisième partie nous allons nous intéresser aux applications potentielles d'un manipulateur parallèle, en particulier du point de vue de la commande par retour d'efforts, ainsi qu'à...
Manipulateurs paralleles. 3e partie : applications (1989)
Dans cette troisième partie nous allons nous intéresser aux applications potentielles d'un manipulateur parallèle, en particulier du point de vue de la commande par retour d'efforts, ainsi qu'à...
Parallel manipulators. Part 2 : Theory. Singular configurations and Grassmann geometry (1988)
Parallel manipulators have a specific mechanical architecture where all the links are connected both at the basis and at the gripper of the robot. By changing the lengths of these links we are able...
Parallel manipulators. Part 2 : Theory. Singular configurations and Grassmann geometry (1988)
Parallel manipulators have a specific mechanical architecture where all the links are connected both at the basis and at the gripper of the robot. By changing the lengths of these links we are able...
Parallel manipulators.Part I :Theory design,kinematics,dynamics and control (1987)
Résumé disponible sur le PDF
Parallel manipulators.Part I :Theory design,kinematics,dynamics and control (1987)
Résumé disponible sur le PDF
Commande par retour d'efforts en robotique (1984)
Disponible dans les fichiers attachés à ce type de document
Commande par retour d'efforts en robotique (1984)
Disponible dans les fichiers attachés à ce type de document