Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide (2007)
Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...
Modeling and Identification of Serial Robots (2007)
Khalil, Wisama, Dombre, Etienne
This Chapter gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic...
Robot Manipulators: Modeling, Performance Analysis and Control (2007)
Dombre, Etienne, Khalil, Wisama
This book presents the most recent research results about the modeling and control of robot manipulators. - Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic...
Robot Manipulators: Modeling, Performance Analysis and Control (2007)
Dombre, Etienne, Khalil, Wisama
This book presents the most recent research results about the modeling and control of robot manipulators. - Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic...
Modeling and Identification of Serial Robots (2007)
Khalil, Wisama, Dombre, Etienne
This Chapter gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic...
Identification of the payload inertial parameters of industrial manipulators (2007)
Khalil, Wisama, Gautier, Maxime, Lemoine, Philippe
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control...
Identification of the payload inertial parameters of industrial manipulators (2007)
Khalil, Wisama, Gautier, Maxime, Lemoine, Philippe
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control...
General Solution for the Dynamic Modeling of Parallel Robots (2007)
Khalil, Wisama, Ibrahim, Ouarda
In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the...
General Solution for the Dynamic Modeling of Parallel Robots (2007)
Khalil, Wisama, Ibrahim, Ouarda
In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the...
Robot anguille sous-marin en 3D (2006)
Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe
L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...
Robot anguille sous-marin en 3D (2006)
Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe
L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...
Identification experimentale des paramètres inertiels de la charge d'un robot Stäubli RX90 (2006)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime, Erginer, Onur
Dans cet article nous présentons l'identification des paramètres inertiels de la charge d'un robot Stäubli RX 90. La connaissance de ces paramètres peut être utilisée pour mettre à jour le...
Identification experimentale des paramètres inertiels de la charge d'un robot Stäubli RX90 (2006)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime, Erginer, Onur
Dans cet article nous présentons l'identification des paramètres inertiels de la charge d'un robot Stäubli RX 90. La connaissance de ces paramètres peut être utilisée pour mettre à jour le...
Modeling and identification of passenger car dynamics using robotics formalism (2006)
Venture, Gentiane, Ripert, Pierre-Jean, Khalil, Wisama, Gautier, Maxime, Bodson, Philippe
This paper deals with the problem of dynamicmodeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of...
Modeling and identification of passenger car dynamics using robotics formalism (2006)
Venture, Gentiane, Ripert, Pierre-Jean, Khalil, Wisama, Gautier, Maxime, Bodson, Philippe
This paper deals with the problem of dynamicmodeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of...
Inverse and Direct Dynamic Modeling of Gough-Stewart Robots (2004)
Khalil, Wisama, Guegan, Sylvain
This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of...
Inverse and Direct Dynamic Modeling of Gough-Stewart Robots (2004)
Khalil, Wisama, Guegan, Sylvain
This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of...
Identification of the Dynamic Parameters of the Orthoglide (2003)
Guegan, Sylvain, Khalil, Wisama, Lemoine, Philippe
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is...
Identification of the Dynamic Parameters of the Orthoglide (2003)
Guegan, Sylvain, Khalil, Wisama, Lemoine, Philippe
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is...
Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)
Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...
Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)
Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2001)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2001)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
Identifiable parameters for parallel robots kinematic calibration (2001)
Besnard, Sébastian, Khalil, Wisama
This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for...
Identifiable parameters for parallel robots kinematic calibration (2001)
Besnard, Sébastian, Khalil, Wisama
This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2000)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
Comparison study of the geometric parameters calibration methods (2000)
Khalil, Wisama, Besnard, Sébastien, Lemoine, Philippe
This paper presents a comparison study on the methods of geometric parameters calibration of robots. The study takes into consideration classical methods which require the measuring of the position...
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools (2000)
Gautier, Maxime, Pham, Minh Tu, Khalil, Wisama, Lemoine, Philippe, Poignet, Philippe
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools),...
Comparison study of the geometric parameters calibration methods (2000)
Khalil, Wisama, Besnard, Sébastien, Lemoine, Philippe
This paper presents a comparison study on the methods of geometric parameters calibration of robots. The study takes into consideration classical methods which require the measuring of the position...
GECARO: A system for the GEometric CAlibration of RObots (1999)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots,...
GECARO: A system for the GEometric CAlibration of RObots (1999)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots,...
SYMORO+: A SYSTEM FOR THE SYMBOLIC MODELLING OF ROBOTS (1997)
Khalil, Wisama, Creusot, Denis
This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct...
SYMORO+: A SYSTEM FOR THE SYMBOLIC MODELLING OF ROBOTS (1997)
Khalil, Wisama, Creusot, Denis
This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct...
A software package for the calibration of robots (1996)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of...
A software package for the calibration of robots (1996)
Khalil, Wisama, Lemoine, Philippe
This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of...
Autonomous calibration of Robots using planar points (1996)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime
This paper presents two methods for the calibration of the geometric parameters of serial robots. They are based on putting the terminal point of the robot in a plane, only the position sensors of...
Autonomous calibration of Robots using planar points (1996)
Khalil, Wisama, Lemoine, Philippe, Gautier, Maxime
This paper presents two methods for the calibration of the geometric parameters of serial robots. They are based on putting the terminal point of the robot in a plane, only the position sensors of...
Comments on "Direct Calculation of minimum set of inertial Parameters of Serial Robots" (1994)
The paper presented by Gautier and Khalil [1] gives a direct and efficient method to calculate most of the minimum inertial parameters of serial robots. Some parameters concerning the translational...
Comments on "Direct Calculation of minimum set of inertial Parameters of Serial Robots" (1994)
The paper presented by Gautier and Khalil [1] gives a direct and efficient method to calculate most of the minimum inertial parameters of serial robots. Some parameters concerning the translational...