David Daney -- Home page

A parallel cable-driven robot consists essentially of a mobile platform connected in parallel to a base by cables. Each cable is wound and unwound by actuated winches which are generally fixed to the base. The other end of the cable is attached to the mobile platform. The winches control the position and orientation of the platform by controlling the length of their respective cable. In the sequel, we will indifferently call parallel cable-driven robots, parallel cable robots or, simply, cable robots.
Parallel cable-driven robots have several advantages over more conventional rigid-link robots. The overall mass and inertia of the moving parts is reduced. Depending on their size and practical realization, they may be less expensive and easier to build, transport and reconfigure. When thin cables or wires are used, they are also safer and non intrusive which are useful properties for, e.g., rehabilitation and human-scale haptics. These interesting properties make parallel cable-driven robots good candidates for many applications and, in the last few years, there is a worldwide increasing interest for this type of parallel robots. Surely, parallel cable-driven robots also have drawbacks such as the unilateral character of actuation (the cables can only pull) which, for some applications, make actuation redundancy compulsory, collisions between the cables or between the cables and their environment, lower overall stiffness and precision and, possibly, unwanted vibrations.

CoGiRo (ANR)

The project CoGiRo is a research project which deals with the control of parallel cable-driven robots with and possibly high to very high loads. The overall goal is to propose and validate experimentally methodologies and innovative means to control parallel cable-driven robots with very large workspaces and possibly heavy to very heavy loads. To this end, design and calibration issues will also have to be dealt with. The typical sizes of working ranges considered will vary between around ten meters to a hundred or more meters. For validation purposes, a prototype of a large cable robot will be designed and built.

External Links : ANR project CoGiRo
Partners: Dexter (LIRMM), Fatronik, Rosace (LASMEA)

Recent Publications

Mandar Harshe, Jean-Pierre Merlet, David Daney, Sami Bennour Multi-sensors System for Human Motion Measurement: Preliminary Setup The 13th World Congress in Mechanism and Machine Science, IFTOMM. June 19-25, 2011, Guanajuato, Mexico
M. Gouttefarde, D. Daney, J-P Merlet Interval Analysis Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots IEEE Transactions on Robotics vol. 27(1), pp. 1-13, 2011.
D. Daney, J-P. Merlet A portable, modular parallel wire crane for rescue operations. IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, USA, 2010.

Calibration of parallel robots

Calibration of a parallel cable-driven robots

Goals Improve large parallel cable robots qualities through the identification and certification of a control model. The complete parallel cable robot model depends on elemental models of the system: cables, mechanical structure, measurement devices and considered mathematical relationships (kinematic, static, dynamic). The first goal is to identify these system parameters. Some of them may be estimated by direct measurement; however, others need to be estimated by a calibration process. One important result is to determine the uncertainties associated with each variable. Indeed, developing a complete model of the entire system is most often not interesting in practice because

It will be too complicated to use in a real-time controller,
It will need too many additional sensors,
All parameters are not interesting for vision based control,
Certain assumptions are sufficient for specific tasks.

Subsequently, it is necessary to make specific model choices that simplify the controller. These choices depend heavily on a rigorous analysis of the propagation of uncertainties throughout the system. For example, according to the variability and uncertainty in some parameters, some may be neglected whilst others become clearly more important. In this way the mathematical design of the model can be optimally simple for a specific task. Whilst this previous model has focused on online control, it is also necessary to simplify the calibration procedure for the end-user. This may be achieved in a similar adaptive manner, however, additional criteria must be considered. In particular, a decrease in the size and complexity of the calibration procedure.

PhD Student Julien Alexandre Dit Sandretto/

Calibration of an Active Space Telescope

Thales Alenia Space, in partnership with the Coprin project-team, is studying a new concept of active space telescope. Based on a parallel architecture, its structure permits not only the telescope deployement in space but also the accurate positioning of the secondary mirror relative to the primary one in order to improve the provided images quality. The deployement and re-positionning concepts were validated thanks to a first prototype, and the telescope performances improvement is currently under study. The aim of this PhD is to auto-calibrate the mechanical structure of the telescope: using only proprioceptive informations, parameters of the robot model will be identified. Thus, a space telescope based on this concept will be able to reach its final orbit, and then to improve its image accuracy thanks to an autonomous procedure.

PhD Student Thibault Gayral

Recent Publications

D. Daney, N. Andreff, C. Chabert and Y. Papegay. Interval Method for Calibration of Parallel Robots : Vision-based Experiments. MMT, vol 41, pp. 926--944, 2006.
D. Daney, B. Madeline and Y. Papegay Choosing Measurement Poses for Robot Calibration with local Convergence Method and Tabu Search. IJRR, vol 24 (6), pp. 501-518, 2005.

External Link: JP Merlet

Interval analysis: eigenvalues of an interval matrix

We have studied methods to compute the eigenvalues of an interval matrix. Such matrices could be used to model real-life problems, where data sets suffer from bounded variations such as uncertainties (e.g. tolerances on parameters, measurement errors), or to study problems for given states. This work is a key point for the certification of properties of systems depending on a set of parameters.

We study bounds on eigenvalues of interval matrices, and our aim is to develop fast computable formulae that produce as-sharp-as-possible bounds. We consider two cases: general (unsymmetric) and symmetric interval matrices. We also provide bounds for the singular values of (generally non-square) interval matrices.
we present an algorithm for approximating the range of the real eigenvalues of interval matrices. The algorithm that we propose is a subdivision algorithm that exploits sophisticated techniques from interval analysis. The quality of the computed approximation, as well as the running time of the algorithm depend on a given input accuracy.
We consider the general problem of computing intervals that contain the real eigenvalues of interval matrices. Given an outer approximation of the real eigen- value set of an interval matrix, we propose a filtering method that improves the approximation. Even though our method is based on an sufficient regularity condition, it is very efficient in practice, and our experimental results suggest that, in general, improves significantly the input approximation. This method works for general, as well as for symmetric matrices.
We consider the eigenvalue problem for the case when the input matrix is symmetric and its entries perturb in some given intervals. We propose a new solution theorem characterizing some of the exact boundary points. Based on this result we develop an inner approximation algorithm, which sometimes produce exact bounds. It is the first algorithm---to the best of our knowledge---that is able to guarantee exactness (under some assumptions).

Recent Publications

M. Hladik, D. Daney, and E. Tsigaridas An algorithm for addressing the real interval eigenvalue problem. Journal of Computational and Applied Mathematics, 235(8):2715–2730, 2011.
M. Hladik, D. Daney, and E. Tsigaridas A filtering method for the interval eigenvalue problem Applied Mathematics and Computation, 217(12):5236–5242, 2011.
M. Hladik, D. Daney, and E. Tsigaridas Bounds on Real Eigenvalues and Singular Values of Interval Matrices SIAM. J. Matrix Anal. & Appl. Volume 31, Issue 4, pp. 2116-2129, 2010.

External Links : Interval Computations

Articles in book's chapters

[1] J-P. Merlet and D. Daney.
"Appropriate Design of Parallel Manipulators."
Smart Devices and machines for advanced manufacturing, ed. L. Wang and J. Xi, pp. 1-25, Springer, 2008. PDF

Articles in journal

[17] Julien Alexandre dit Sandretto, Gilles Trombettoni, David Daney
Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots
New Trends in Mechanism and Machine Science, Mechanisms and Machine Science, Spinger, p85-93,2013

[16] Milan Hladik, David Daney, and Elias Tsigaridas
Characterizing and approximating eigenvalue sets of symmetric interval matrices.
Elsevier, Computers and Mathematics with Applications, 62:3152-3163, 2011. PDF File, Open Archive

[15] Milan Hladik, David Daney, and Elias Tsigaridas
An algorithm for addressing the real interval eigenvalue problem.
J. Comput. Appl. Math., 235(8):2715-2730, 2011. Open Archive

[14] Milan Hladik, David Daney, and Elias Tsigaridas
A filtering method for the interval eigenvalue problem.
Applied Mathematics and Computation, 217(12):5236-5242, 2011. Open Archive

[13] M. Gouttefarde, D. Daney, J-P Merlet
Interval Analysis Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots
IEEE Transactions on Robotics vol. 27(1), pp. 1-13, 2011. PDF File

[12] J-P Merlet, D. Daney,
Robotique : des aides abordables pour nos aines
La Recherche. Les Cahiers de l'Inria, 446 novembre 2010 (2010) PDF File, HAL pages

[11] Milan Hladik, David Daney, and Elias Tsigaridas
"Bounds on Real Eigenvalues and Singular Values of Interval Matrices"
SIAM. J. Matrix Anal. & Appl. Volume 31, Issue 4, pp. 2116-2129, 2010. Open Archive

[10] Harada, k., Oetomo, D., Susilo, E., Menciassi, A., Daney, D., Merlet, J-P., Dario P.
"A Reconfigurable Modular Robotic Endoluminal Surgical System : Visions and Preliminary Results"
Robotica, Volume 28, Issue 2, pp. 171-183, 2010. PDF File

[9] Oetomo, D., Daney, D. and Merlet, J-P.
"Design Strategy of Serial Manipulators With Certified Constraint Satisfaction."
IEEE Trans. on Robotics, vol. 25 (1), p. 1-11, 2009. PDF File

[8] Oetomo, D., Daney, D., Shirinzadeh, B. and Merlet, J-P.
"An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism"
Trans of the ASME J. of Mechanical Design, vol 131 (1), p. 011014 (11 pages), 2009. PDF File

[7] D. Daney, N. Andreff, C. Chabert and Y. Papegay.
"Interval Method for Calibration of Parallel Robots : Vision-based Experiments."
Mechanism and Machine Theory, Elsevier, vol 41, pp. 926--944, 2006. PDF File , html

[6] D. Daney, B. Madeline and Y. Papegay
"Choosing Measurement Poses for Robot Calibration with local Convergence Method and Tabu Search."
International Journal of Robotic Research, Sage publications, vol 24 (6), pp. 501-518, 2005. PDF File

[5] Y. Lebbah, C. Michel, M. Rueher, D. Daney and J-P. Merlet
"Combining local consistencies with a new global filtering algorithm on linear relaxations."
SIAM Journal on Numerical Analysis, 42(5), pp. 2076-2097, 2005.. PDF File,

[4] Y. Papegay, J-P. Merlet and D. Daney,
"Exact Kinematic Analysis of Car's Suspension Mechanisms Using Symbolic Computation and Interval Analysis."
Mechanism and Machine Theory, Elsevier, vol. 40, p. 395-413, 2005. PDF File

[3] Y. Papegay, D. Daney and J-P. Merlet
"Parallel Implementation of Interval Analysis for Equations Solving "
Recent Advances in Parallel Virtual Machine and Message Passing Interface, Lecture Notes in Computer Science 2840, p. 555-559, Springer, 2003. PDF File

[2] D. Daney,
"Kinematic Calibration of the Gough platform."
Robotica, Cambridge University Press, vol 21(6), pp 677-690, 2003. PDF preprint File

[1] D. Daney, I. Z. Emiris,
"Variable elimination for reliable parallel robot calibration."
Electronic Journal of Computational Kinematics, vol 1 (1), 2002. EJCK

Conference's articles

[34] Julien Alexandre dit Sandretto, Gilles Trombettoni, David Daney
Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots
4th European Conference on Mechanism Science. September 18th-22nd, 2012, Santander, Spain.

[33] David Daney, Ph. Gesnouin, Pr. Ph. Robert
Research in the service of personal assistance
Health Information Technologies, HIT, May, 2012, Paris.

[32] Julien Alexandre Dit Sandretto, David Daney, Marc Gouttefarde
Calibration of a Fully-Constrained Parallel Cable-Driven Robot
The 19th CISM-IFToMM RoManSy Symposium (ROMANSY2012), June 2012, Paris

[31] D. Daney
Robotic services for the elderly improving their autonomy at home
Invited talk, workshop on Robotics for Neurology and Rehabilitation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2011, San Francisco

[30] Mandar Harshe, Jean-Pierre Merlet, David Daney, Sami Bennour
Multi-sensors System for Human Motion Measurement: Preliminary Setup
The 13th World Congress in Mechanism and Machine Science, IFTOMM. June 19-25, 2011, Guanajuato, Mexico

[29] D. Daney
Int4Sci: Scilab Interface for Interval Analyis
Plenary talk 14th GAMM-IMACS International Symposium on Scientific Computing, Computer Arithmetic and Validated Numerics Lyon, France, 2010

[28] J-P. Merlet, D. Daney
A portable, modular parallel wire crane for rescue operations.
IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, USA, 2010.

[27] Merlet J-P., D. Daney
Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism.
In Computational Kinematics, pages 1-8, Duisburg, 6-8 Mai 2009 PDF File

[26] D. Oetomo, D. Daney, K. Harada, J-P. Merlet and P. Dario
Topology Design of Surgical Reconfigurable Robots by Interval Analysis.
IEEE Int. Conf. on Robotics and Automation (ICRA), Kobe, Japan, 2009.

[25] M. Hladik, D. Daney, E.P. Tsigaridas
Bounds on Eigenvalues of Symmetric Interval Matrices.
SmallWorkshop on Interval Methods (SWIM), Lausanne, Switzerland, 2009.

[24] Y. Papegay and D. Daney
UnCertainties, a Package for Interval Analysis
9th International Mathematica Symposium, 2008, Maastricht, The Netherlands.

[23] D. Oetomo, D. Daney, B. Shirinzadeh and J-P. Merlet
Certified Workspace Analysis of 3RRR Planar Parallel Flexure Mechanism
In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2008, Pasadena, USA.

[22] Y. Papegay and D. Daney
"Computing with Intervals : the Ultimate Symbolic Computation ? "
Wolfram Technology Conference, 2007, Illinois, US.

[21] C. Grandon, D. Daney, Y. Papegay, C. Tavolieri, E. Ottaviano and M. Ceccarelli.
Handling Uncertainties with Symbolic/Numerical Solvers for a Class of Parallel Robots.
WC - International Federation for the Theory of Machines and Mechanisms (IFToMM), June, 2007, Besancon, France.
PDF

[20] M. Gouttefarde, J-P. Merlet and D. Daney
Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms.
In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2007, Rome, Italia.
PDF

[19] J-P. Merlet and D. Daney
A New Design for Wire-Driven Parallel Robot.
Inter. Cong. Design and Modelling of Mechanical Systems (CMSM 2007), March, 2007, Monastir, Tunisia.

[18] C. Grandon, D. Daney and Y. Papegay
Combining CP and Interval Methods for solving the Direct Kinematic of a Parallel Robot under Uncertainties.
Workshop of International Conference on Principles and Practice of Constraint Programming (IntCP 06), September, 2006, Nantes, France.
PDF File

[17] M. Gouttefarde, J-P. Merlet and D. Daney
Determination of the Wrench-Closure Workspace of 6--DOF Parallel Cable-driven Mechanisms
10th International Symposium on Advances in Robot Kinematics, June 25 - 29, 2006, Ljubljana, Slovenia
PDF File

[16] J-P. Merlet and D. Daney,
"Legs interference checking of parallel robots over a given workspace or trajectory."
In IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, 16-18 Mai 2006, Orlando, US.
PDF File

[15] D. Daney, Ioannis Z. Emiris, Y. Papegay, E. Tsigaridas and J-P Merlet
"Calibration of parallel robots : on the Elimination of Pose-Dependent Parameters"
European Conference on Mechanism Science, (EuCoMeS), February 21--26, 2006, Obergurgl Austria.
PDF File

[14] Y. Papegay and D. Daney
"Solving with Interval Analysis."
Wolfram Technology Conference, October 6-8, 2005, Illinois, US.

[13] A. Goldsztejn, D. Daney, M. Rueher and P. Taillibert
"Modal intervals revisited : a mean-value extension to generalized intervals."
In International Workshop on Quantification in Constraint Programming (International Conference on Principles and Practice of Constraint Programming, CP-2005), October 1, 2005, Bracelona, Spain.
PDF File

[12] D. Daney, A. Andreff, and Y. Papegay
" Interval method for calibration of parallel robots : a vision-based experimentation."
In Computational Kinematics (CK), May 4-6, 2005, Cassino, Italy.
PDF File

[11] J-P. Merlet and D. Daney,
"Dimensional synthesis of parallel robots with a guaranteed given accuracy over a specific workspace."
In IEEE Int. Conf. on Robotics and Automation (ICRA), April 19-22, 2005, Barcelona, Spain.
PDF File

[10] D. Daney, Y. Papegay and A. Neumaier
"Interval Methods for Certification of the Kinematic Calibration of Parallel Robots"
In IEEE International Conference on Robotics and Automation (ICRA), pp. 147-152, April 26 - May 1, 2004, New Orleans, USA.
PDF File

[9] D. Daney, I. Z. Emiris
"Algebraic Elimination for Parallel Robot Calibration"
International Federation for the Theory of Machines and Mechanisms (IFToMM), pp.212-217 April 1-4, 2004, Tianjin, China.
PDF File

[8] Y. Papegay, D. Daney, J-P. Merlet
"Parallel Implementation of Interval Analysis for Equations Solving "
10th European PVM/MPI Users' Group Conference (EuroPVM/MPI03), 29 Sep - 2 Oct, 2003, Venice, Italy.

[7] D. Daney,
"Optimal Measurement Configurations for Gough Platform Calibration."
In IEEE International Conference on Robotics and Automation (ICRA), pp. 147-152, 11-15 May 2002, Washington, US.
PDF File

[6] D. Daney, I. Z. Emiris,
"Robust parallel robot calibration with partial information."
In IEEE International Conference on Robotics and Automation (ICRA), vol(4), pp. 3262-3267, 21-26 May 2001, Coree
Postscript File

[5] D. Daney, I. Z. Emiris,
"Variable elimination for reliable parallel robot calibration."
In 2nd Workshop on Computational Kinematics (CK), pp. 133-144, 20-22 May 2001, Coree.
Postscript File

[4] J-P. Merlet, D. Daney,
"A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot."
In 2nd Workshop on Computational Kinematics (CK), pp. 167-176, 20-22 May 2001, Coree.
Postscript File

[3] J-P. Merlet, M-W. Perng, D. Daney,
"Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator."
In 7th International Symposium on Advances in Robot Kinematics (ARK), pp. 315-322, Piran, 25-29 June 2000
Postscript File

[2] D. Daney,
"Self calibration of Gough platform using leg mobility constraints."
International Federation for the Theory of Machines and Mechanisms (IFToMM), pp. 104-109, Oulu, 20- 24 June 1999.
Postscript File

[1] D. Daney,
"Mobility constraints on the legs of a parallel robot to improve the kinematic calibration."
In New machine concepts for handling and manufacturing devices on the basis of parallel structures, pp. 187-200, Braunschweig, 10-11 November 1998.
Postscript File

Conferences

D. Daney,
"Étalonnage des robots parallèles."
Journées ROBÉA/MAX, INRIA, Sophia Antipolis, 07 avril 2003.

D. Daney and I. Z. Emiris,
"Élimination de variables appliqueée à l'étalonnage des robots parallèles."
Journées Nationales de Calcul Formel, CIRM, Luminy, 20-24 janvier 2003.

D. Daney, S. Lazard, S. Robbins and S. Whitesides,
"Géométrie algorithmique pour la CAO et la conception optimale de robots"
68ème Congrés ACFAS, 15-19 mai 2000, Montréal, Canada.

Doctorat

D. Daney,
"Étalonnage Géométrique des Robots Parallèles."
Thèse de doctorat, Université de Nice Sophia-Antipolis, 02 Février 2000.
Postscript File PDF

David DANEY Researcher at INRIA Sophia Antipolis, in the Coprin project-team Head of the Large Scale Initiative Action Personally Assisted Living (PAL) see http://pal.inria.fr.
INRIA, 2004 route des Lucioles, BP 93, 06902 Sophia-Antipolis cedex FRANCE Phone (+33) 4 92 38 50 24 , Fax: (+33) 4 92 38 50 28 Mobile (+33) 6 78 30 17 65 Email: David.Daney (at) inria.fr Short URL: http://goo.gl/XlRUk
	click to enlarge (vcard)
see the list of my publications. see my Current Scientific Activities see my Software see my others activites see my activity report of Inria. see my ftp site

Current Scientific Activities [Hide] / [Show]

CoGiRo (ANR)

Recent Publications

Calibration of parallel robots

Calibration of a parallel cable-driven robots

Calibration of an Active Space Telescope

Recent Publications

Interval analysis: eigenvalues of an interval matrix

Recent Publications

Software [Hide] / [Show]

Recent Publications

Others Activities [Hide] / [Show]

Administrative Activities:

Supervising

Conference Organizations

Lectures

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Projects

Publications [Hide] / [Show]

Articles in book's chapters

Articles in journal

Conference's articles

Conferences

Doctorat