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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Journal ArticleDOI
Robot anguille sous-marin en 3D
TL;DR: In this article, a robot anguille capable of nager en trois dimensions is presented, which is based on a modeles continus macroscopiques, simulating, locomotion, and commande.
Posted Content
Definition sets for the Direct Kinematics of Parallel Manipulators
Philippe Wenger,Damien Chablat +1 more
TL;DR: The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators and it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains.
Book ChapterDOI
Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains
TL;DR: In this paper, the compliance errors compensation for parallel manipulators under external loading is considered and an approach based on the nonlinear stiffness modeling and reducing to a proper adjusting of a target trajectory is proposed.
Posted Content
Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot
TL;DR: This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant and the CAD model of several solutions located on the Pareto front is presented.
Proceedings ArticleDOI
Kinematic Control of Compliant Serial Manipulators Composed of Dual-Triangles
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.