Damien Chablat

TL;DR: In this paper, the stiffness matrix computation for manipulators with passive joints is studied and an efficient recursive procedure is proposed to obtain the desired stiffness matrix either in analytical or numerical form.

TL;DR: With the proposed method, the shaking force balancing of the Orthoglide is carried out, taking into account the varying payload, and the application of the “bang–bang” motion profile on the common center of mass allows a considerable reduction of the acceleration of the total mass center, which results in the reduction ofThe shaking force.

TL;DR: The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism that consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation.

TL;DR: In this paper, the authors present an algebraic method to check the feasibility of any given trajectories in the workspace, where the solutions of the polynomial equations associated with the tra-jectories are projected in the joint space using Gr{\"o}bner based elimination methods and the remaining equations are expressed in a parametric form where the articular variables are functions of time t unlike any numerical or discretization method.

TL;DR: In this article, the kinematics control of a compliant serial manipulator composed of a new type of dual-triangle elastic segments is studied, and some useful optimization techniques are applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the end effector.