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INRIA Sophia Antipolis
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INRIA Sophia Antipolis
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A Collaborative Work
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. Subject ParticularitiesThe 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. The combination of a small workspace with the willing micrometer accuracy is a complex task in a calibration procedure. Indeed, only small changes on the sensor values can be observed. So, the parameters identification is very sensitive to the telescope model which thus has to be as complete as possible. |
| Supervisors: David Daney (INRIA, Main Supervisor), Jean-Pierre Merlet (INRIA, HDR), Frédéric Falzon (Thales Alenia Space) |
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In partnership between IRCCyN and the Mechanical and Aerospace Department of Monash University, the design optimization of a new medical haptic device was conducted. The three-legged and six-degree of freedom manipulator under study has all its actuators attached to the base-platform. Thus, the mass of its components can be reduced, which permits the device to reach a better dynamic while still having sufficient stiffness and accuracy. The singularity analysis of this device was performed using Grassmann-Cayley algebra and Gröbner bases. Then, the optmization process was conducted in order to obtain specific accuracy and force capability over a regular workspace with the use of simulated annealing method and genetic algorithm. Contacts: Me, Chao Chen (Monash University), Stéphane Caro (IRCCyN) |
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Robmarket is a collaborative ANR Project between BA Systèmes, CEA List, University of Caen and INRIA Rennes. The aim of this project is to develop an AGV for object manipulation, namely in the field of order preparation. The industrial impacts are to improve working conditions and decrease the stockroom size. I worked with BA Systèmes on the design of the AGV prehensor grip. The main difficulties were to find the best set of prehensors which permits to take the most important variety of articles. We choose to combine a pneumatic gripper with two suction cups on the same tool. The mechanism that permits to switch between these tools during the manipulator work is currently under patenting. Contacts: Guy Caverot (BA Systèmes) |
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S. Caro, G. Moroz, T. Gayral, D. Chablat and C. Chen
Singularity Analysis of a Six-Dof Parallel Manipulator Using Grassmann-Cayley Algebra and Gröbner BasesAbstract:
The subject of this paper deals with the singularity analysis of a sixdof three-legged parallel manipulator for force-feedback interface. To this end, a geometric condition for the manipulator singularities is obtained by means of Grassmann-Cayley algebra; the parallel singularities of the manipulator are computed using Jacobian and Gröbner basis. As a result, the algebraic relations of the singularities satisfied by the orientation variables are reported. Finally, the parallel singularities of the manipulator are plotted in its orientation workspace.
In Symposium on Brain, Body and Machine. November 2010.