D
Damien Chablat
Researcher at Centre national de la recherche scientifique
Publications - 452
Citations - 6705
Damien Chablat is an academic researcher from Centre national de la recherche scientifique. The author has contributed to research in topics: Parallel manipulator & Kinematics. The author has an hindex of 37, co-authored 427 publications receiving 6008 citations. Previous affiliations of Damien Chablat include Institut de Recherche en Communications et Cybernétique de Nantes & French Institute for Research in Computer Science and Automation.
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Proceedings ArticleDOI
A vision-based computed torque control for parallel kinematic machines
TL;DR: A novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot and it is shown that such an operation reduces the model complexity.
Proceedings ArticleDOI
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators
TL;DR: In this article, the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators are investigated and the number of cusp points may vary from zero to eight.
Journal ArticleDOI
On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators
Damien Chablat,Jorge Angeles +1 more
TL;DR: A kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type is proposed, based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for the purpose of performance evaluation.
Proceedings ArticleDOI
Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot
TL;DR: In this article, the non-singular assembly mode changing of a six degrees of freedom parallel manipulator was studied and it was shown that the parallel singularities of the manipulator depend only on the orientation of its moving platform.
Journal ArticleDOI
Fatigue evaluation in maintenance and assembly operations by digital human simulation in virtual environment
TL;DR: In this paper, a virtual human status is proposed to assess the difficulty of manual handling operations, especially from the physical perspective, and the reduction of physical strength is simulated in a theoretical approach on the basis of a fatigue model in which fatigue resistances of different muscle groups were regressed from 24 existing maximum endurance time models.