Adrien Koessler — accepted AI-conference papers

2020

Singularity analysis and reconfiguration mode of the 3-CRS parallel manipulator

Chedli Bouzgarrou, Adrien Koessler, Nicolas Bouton

ICRA 2020poster

The 3-CRS manipulator is an original parallel mechanism having 6 degrees of freedom (DOFs) with only 3 limbs. This mechanism uses a motorized cylindrical joint per limb. This new paradigm of actuation opens research fields on new families of robots that should particularly interest the parallel robo…

Cited by 4 Source ↗Scholar ↗

2017

Certified detection of parallel robot assembly mode under Type 2 singularity crossing trajectories

Adrien Koessler, Alexandre Goldsztejn, Sébastien Briot, Nicolas Bouton

ICRA 2017poster

Increasing the size of operationnal workspace is one of the main problems parallel robots are faced with. Among all the proposed solutions to that, crossing Type 2 singularities using dedicated trajectory generation and multi-model controller has a great potential. Yet, this approach is not sufficie…

Cited by 6 Source ↗Scholar ↗