Stéphane Caro

Learn More
– The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially improving calibration accuracy and reducing parameter identification errors. The results are illustrated by application(More)
The paper is devoted to the elastostatic calibration of industrial robots, which are used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot(More)
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot calibration. This strategy is based on the concept of the robot test-pose and ensures the best compliance error compensation(More)
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of(More)
— The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elas-tostatic parameters and calibration accuracy. To reduce impact of the measurement errors, the set of manipulator configurations for calibration experiments is optimized with respect to(More)
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kine-tostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another(More)
1  Abstract—This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel manipulators, of which some legs do not have any spherical joint, are such manipulators. The geometric(More)
The position and rotational errors —also called pose errors— of the end-effector of a robotic mechanical system are partly due to its joints clearances, which are the play between their pairing elements. In this paper, we model the prediction of those errors by formulating two continuous constrained optimization problems that turn out to be NP-hard. We show(More)