COPRIN Project

• Workspaces of planar parallel robot, Motion planning (Version 10/4/1999, Previous Version 9/28/1995)

• Software for visualizing 4-bar mechanism (Version 9/28/1995)

• Software for solving the forward kinematics of 3-RPR parallel manipulators (Version 9/28/1995)

• Software for finding all the solutions of the forward kinematics of Stewart Platform (Version 7/28/1995)

• Software for finding all the solutions of the forward kinematics of special type of Gough Platform (Version 10/10/1996, Previous Version 8/7/1995)

• Software for finding all the solutions of the 3-(RS) mechanism This software enables to solve the forward kinematics of many parallel robots: 6-3, HEXA, INRIA prototype.. (Version 9/12/1995)

• Software for finding all the solutions of the forward kinematics of 6-3 robot with planar base (Version 9/13/1995)

• Workspaces of 6 d.o.f. parallel robots (constant orientation and orientation workspace) (Version 10/4/1999, Previous Version 5/17/1996, Previous Version: 8/12/1995)

• Motion planning and trajectory verification for 6 d.o.f parallel robots (Version 5/17/1996, Previous Version: 8/12/1995)

• Parallel manipulator visualisation (Version 10/4/1999, Previous Version 5/29/1997, previous Version: 9/28/1995)

• Software for designing parallel manipulator (Version 7/21/1996, Previous Version:9/28/1995)

• vitesse Software for computing the extremal articular velocties of a parallel manipulator whose end-effector should be able to reach a cartesian/ angular velocity for any position in a given workspace (Version 8/1/1998, previous Version 7/27/1997,7/21/1996)

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