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SCIENTIFIC PROGRAMME

SUNDAY, JUNE 22

17.00-20.00: Registration and Welcome address

 

MONDAY, JUNE 23

 

9.00-10.45: Singularity Analysis of Parallel Manipulators I

M. Conconi, M. Carricato
A NEW ASSESSMENT OF SINGULARITIES OF PARALLEL KINEMATIC CHAINS

J. Hubert, J.P. Merlet
SINGULARITY ANALYSIS THROUGH STATIC ANALYSIS

G. Gogu
CONSTRAINT SINGULARITIES AND THE STRUCTURAL PARAMETERS OF PARALLEL ROBOTS

X. Kong
FORWARD DISPLACEMENT ANALYSIS AND SINGULARITY ANALYSIS OF A 3-RPR PLANAR PARALLEL MANIPULATOR

10.45-11.15: Coffee break

11.15-12.30: Singularity Analysis of Parallel Manipulators II

T. Tanev
GEOMETRIC ALGEBRA APPROACH TO SINGULARITY OF PARALLEL MANIPULATORS WITH LIMITED MOBILITY

P. Ben-Horin, M. Shoham, S. Caro, D. Chablat, P. Wenger
SINGULAB – A GRAPHICAL USER INTERFACE FOR THE SINGULARITY ANALYSIS OF PARALLEL ROBOTS BASED ON GRASSMANN-CAYLEY ALGEBRA

D. Kanaan, P. Wenger, D. Chablat
SINGULARITY ANALYSIS OF LIMITED-DOF PARALLEL MANIPULATORS USING GRASSMANN-CAYLEY ALGEBRA

 

12.30-14.30: LUNCH

 

14.30-16.15: Design of Robots and Mechanisms I

M. Gouttefarde, S. Krut, O. Company, F. Pierrot, N. Ramdani
ON THE DESIGN OF FULLY CONSTRAINED PARALLEL CABLE-DRIVEN ROBOTS

P. Larochelle
SYNTHESIS OF PART ORIENTING DEVICES FOR SPATIAL ASSEMBLY TASKS

A. Rojas Salgado, Y. Ledezma Rubio
MINIMUM ENERGY MANIPULATOR DESIGN

G.S. Soh, J.M. McCarthy
SYNTHESIS AND ANALYSIS OF A CONSTRAINED SPHERICAL PARALLEL MANIPULATOR

16.15-16.45: Coffee break

16.45-18.00: Design of Robots and Mechanisms II

P. Ben-Horin, F. Thomas
A 3-MOTOR 6-DOF PARALLEL ROBOT

M. Khan, M. Zoppi, R. Molfino
4-DOF PARALLEL ARCHITECTURE FOR LAPAROSCOPIC SURGERY

C. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux
FLAPPING-WING MECHANISM FOR A BIRD-SIZED UAVS: DESIGN, MODELING AND CONTROL

 

TUESDAY, JUNE 24

 

9.00-10.45: Methods in kinematics I

M. Janiak, K. Tchon
EXTENDED JACOBIAN INVERSE KINEMATICS AND APPROXIMATION OF DISTRIBUTIONS

J.M. Selig, P. Donelan
A SCREW SYZYGY WITH APPLICATIONS TO ROBOT SINGULARITY COMPUTATION

K. Tchon, L. Malek
SINGULARITY ROBUST JACOBIAN INVERSE KINEMATICS FOR MOBILE MANIPULATORS

K. Wohlhart
ROBOTS BASED ON ASSUR GROUP A (3.5)

10.45-11.15: Coffee break


11.15-12.30: Methods in kinematics II

G. Le Vey
KINEMATICS OF FREE-FLOATING SPACE SYSTEMS THROUGH OPTIMAL CONTROL THEORY

P. Donelan
GENERICITY CONDITIONS FOR SERIAL MANIPULATORS

I. Parkin
ALTERNATIVE FORMS FOR DISPLACEMENT SCREWS AND THEIR PITCHES

 

12.30-14.30: LUNCH

 

14.30-16.15: Motion Planning and Mobility I

S. Ambike, J. Schmiedeler
TIME-INVARIANT STRATEGIES IN COORDINATION OF HUMAN REACHING

A. Muller , J. Rico
MOBILITY AND HIGHER ORDER LOCAL ANALYSIS OF THE CONFIGURATION SPACE OF SPATIAL MECHANISMS

J.F. Gauthier, J. Angeles, S. S. Nokleby
OPTIMIZATION OF A TEST TRAJECTORY FOR SCARA SYSTEMS

S. Lahouar, S. Zeghloul, L. Romdhane
SINGULARITY FREE PATH PLANNING FOR PARALLEL ROBOT

16.15-16.45: Coffee break

J. Carretero,I. Ibrahimi, R. Boudreau
A COMPARISON BETWEEN TWO MOTION PLANNING STRATEGIES FOR KINEMATICALLY REDUNDANT PARALLEL MANIPULATORS

O. Alba-Gomez, A. Pamanes, P. Wenger
TRAJECTORY PLANNING OF PARALLEL MANIPULATORS FOR GLOBAL PERFORMANCE OPTIMIZATION

E. Demircan, L. Sentis, V. De Sapio, O. Khatib
HUMAN MOTION RECONSTRUCTION BY DIRECT CONTROL OF MARKER TRAJECTORIES

 

WEDNESDAY, JUNE 25

 

9.00-10.45: Performance and Properties of Mechanisms I

A. Karger
NEW SELF-MOTIONS OF PARALLEL MANIPULATORS

M. Rabl, B. Jüttler, L. Gonzales-Vega
EXACT ENVELOPE COMPUTATION FOR MOVING SURFACES WITH QUADRATIC SUPPORT FUNCTIONS

G. Berselli, R. Vertechy, G. Vassura, V. Parenti-Castelli
A COMPOUND-STRUCTURE FRAME FOR IMPROVING THE PERFORMANCE OF A DIELECTRIC ELASTOMER ACTUATOR

E. Macho, O. Altuzarra, C. Pinto, A. Hernandez
TRANSITIONS BETWEEN MULTIPLE SOLUTIONS OF THE DIRECT KINEMATIC PROBLEM

10.45-11.15: Coffee break

11.15-12.30: Performance and Properties of Mechanisms II

N. Rakotomanga , D. Chablat, S. Caro
KINETOSTATIC PERFORMANCE OF A PLANAR PARALLEL MECHANISM WITH VARIABLE ACTUATION

G. Nawratil
RESULTS ON PLANAR PARALLEL MANIPULATORS WITH CYLINDRICAL SINGULARITY SURFACE

C. Quennouelle, C. Gosselin
STIFFNESS MATRIX OF COMPLIANT PARALLEL ROBOTS

 

12.30-14.30: LUNCH

 

14.30-19.30: Excursion to Guérande and visit of Salt Marsh Museum

 

THURSDAY, JUNE 26

8.30-10.15: Measure and Calibration I

S. Briot, I. Bonev
A MEANINGFUL MEASURE FOR ORIENTATION ERRORS OF SPATIAL ROBOTS

P. Cardou, J. Angeles
ANGULAR-VELOCITY ESTIMATION FROM THE CENTRIPETAL COMPONENT OF THE RIGID-BODY ACCELERATION FIELD

R. Di Gregorio
A DIFFERENT POINT OF VIEW TO DEFINE THE DISTANCE BETWEEN TWO RIGID-BODY POSES

P. Last, C. Budde, D. Schütz, J. Hesselbach, A. Raatz
PARALLEL ROBOT CALIBRATION BY WORKING MODE CHANGE

10.15-10.45: Coffee break

10.45-12.00: Measure and Calibration II

S. O’Brien, J. Carretero
AUGMENTED MODEL OF THE 3-PRS MANIPULATOR FOR KINEMATIC CALIBRATION

J.S. Plante, S. Dubovsky
THE CALIBRATION OF A PARALLEL MANIPULATOR WITH BINARY ACTUATION

S. Barthélémy, P. Bidaud
STABILITY MEASURE OF POSTURAL DYNAMIC EQUILIBRIUM

 

12.00-13.30: LUNCH

 

13.30-14.45: Kinematic Analysis and Workspace I

M. Husty, E. Ottaviano, M. Ceccarelli
A GEOMETRICAL CHARACTERIZATION OF WORKSPACE SINGULARITIES IN 3R MANIPULATORS

C. D. Crane
KINEMATIC ANALYSIS OF A PLANAR TENSEGRITY MECHANISM WITH PRE-STRESSED SPRINGS

De Santis, B. Siciliano
INVERSE KINEMATICS OF ROBOT MANIPULATORS WITH MULTIPLE MOVING CONTROL POINTS

14.45-15.00: Coffee break

15.00-16.15: Kinematic Analysis and Workspace II

C.C Lee, J. Hervé
ON THE DELASSUS PARALLELOGRAM

A. Pott
FORWARD KINEMATICS AND WORKSPACE DETERMINATION OF A WIRE ROBOT FOR INDUSTRIAL APPLICATIONS

D. Pisla, N. Plitea, C. Vaida
KINEMATIC MODELING AND WORKSPACE GENERATION FOR A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY











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