7 accepted papers
Continuum parallel robots ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CPRs</i> ) comprise several flexible beams connected in parallel to an end-effector. They combine the inherent compliance of continuum robots with the high payload capacity o
Several methods can be applied to estimate the propeller thrust and torque coefficients and dynamics parameters of quadrotor UAVs. These parameters are necessary for many controllers that have been proposed for these vehicles. However, these methods require the use of specific test benches, which do
This paper introduces an intrinsically safe parallel manipulator dedicated to fast pick-and-place operations, called R-Min. It has been designed to reduce the risk of injury during a collision with a human operator, while maintaining high speed and acceleration. The proposed architecture is based on…
This letter deals with a novel flying mechanism. Inspired from parallel manipulators, this flying robot is composed of three quadrotors linked by a rigid articulated architecture composed of three legs and a platform. Associating quadrotor comanipulation and rigid bodies, this new design offers nove
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…
The presence of Type 2 singularities in parallel robots severely affects their performances, mainly because the platform motion control is partially lost. It also leads to a size reduction of the operational workspace. Moreover, the dynamic model of the parallel mechanism degenerates and locally, th…
The determination of the singularity cases in the observation of image features is a complicated problem, which is still open, apart from image points. For the first time, we provide the singularity cases in the observation of three image lines. We show that a concept named the “hidden robot,” which