S
Stéphane Caro
Researcher at Centre national de la recherche scientifique
Publications - 319
Citations - 4856
Stéphane Caro is an academic researcher from Centre national de la recherche scientifique. The author has contributed to research in topics: Parallel manipulator & Workspace. The author has an hindex of 32, co-authored 302 publications receiving 3960 citations. Previous affiliations of Stéphane Caro include École normale supérieure de Cachan & École centrale de Nantes.
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Joint stiffness identification of six-revolute industrial serial robots
TL;DR: In this paper, a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot is introduced, where the links of the robot are assumed to be much stiffer than its actuated joints.
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Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments
TL;DR: In this paper, a geometric model for serial manipulators is proposed to reduce the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments, which takes into account different sources of errors (link lengths, joint offsets, etc).
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Identification of the manipulator stiffness model parameters in industrial environment
Alexandr Klimchik,Alexandr Klimchik,Benoit Furet,Benoit Furet,Stéphane Caro,Anatol Pashkevich,Anatol Pashkevich +6 more
TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
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Discrete reconfiguration planning for Cable-Driven Parallel Robots
TL;DR: This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs) whose cable connection points on the base frame can be positioned at a possibly large but discrete set of possible locations.
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Joint stiffness identification of industrial serial robots
TL;DR: A new methodology for the joint stiffness identification of industrial serial robots and as consequence for the evaluation of both translational and rotational displacements of the robot's end-effector subject to an external wrench (force and torque).