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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Book ChapterDOI
Using Maple to analyse parallel robots
TL;DR: The SIROPA Maple Library is presented which has been designed to study serial and parallel manipulators at the conception level and shows how modern algorithms in Computer Algebra can be used to study the workspace, the joint space but also the existence of some physical capabilities w.r.t. to some design parameters left as degree of freedom for the designer of the robot.
Journal ArticleDOI
Kinematic design of a translational parallel mechanism based on sub-kinematic chain determined workspace superposition:
TL;DR: In this article, the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means of the workspace superposition, according to the sub-kinematic chain (SKC) based P...
Proceedings Article
Global optimization of performance of a 2PRR parallel manipulator for cooperative tasks.
TL;DR: In this article, the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix.
Proceedings ArticleDOI
The kinematics of manipulators built from closed planar mechanisms
TL;DR: In this article, the kinematics of planar closed kinematic chains are discussed and the structural features of this manipulator determine a number of its original properties that essentially simplify its control.
Journal ArticleDOI
Validation of a New Dynamic Muscle Fatigue Model and DMET Analysis
TL;DR: A new dynamic muscle fatigue model taking co-contraction factor into consideration using electromyo-graphy (EMG) and Maximum voluntary contraction (MVC) data is experimentally validated and shows that the fatigue increases when co- Contraction index decreases and 90% of the subjects followed the exponential function predicted by fatigue model.