SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
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The main objective of this thesis is the accuracy improvement of parallel robots. Accuracy can be improved either by precise manufacturing and assembly or by calibration of each individual robot using a kinematic model which takes geometric deviations into ...
We compare two formulations for the kinematic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task- ...
We extend the range of inverse kinematics by integrating mass distribution information to embody the position control of the center of gravity of any articulated figure in single support (open tree structure). The underlying control architecture of main an ...
In the computer animation field, the interest for grasping has appeared with the development of synthetic actors. Based on a grasp taxonomy, we propose a completely automatic grasping system for synthetic actors. In particular, the system can decide to use ...
We present a posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the inverse kinetics technique which allows the center of mass position control for postures with either single or multiple ...
A new approach for the animation of articulated figures is presented. The authors propose a system of articulated motion design which offers a full combination of both direct and inverse kinematic control of the joint parameters. Such an approach allows an ...
An interactive tool is proposed for the visualization, editing, and manipulation of multiple track sequences. Multiple tracks sequences can be associated with an articulated figure and may retain motion issued from different motion generators such as walki ...
A global approach to the problem of model-based control of fast parallel robots is proposed in this work. Fundamental differences between the well-known serial arms and parallel manipulators are first explained. A formalism inspired from Denavit-Hartenberg ...
This paper presents a novel modular methodology to design ultra-high precision parallel robots. It chiefly aims at significantly decreasing both the complexity of their synthesis and their development time. This approach can be compared to a robotic Lego®, ...
GaAS/GaAlAs heterostructure rib waveguide coupler with stepped [Triangle Open]β Schottky electrodes has been investigated by using ion-etching and lift-off mask techniques, and optimization design of device structure and lowering epitaxy layer carrier ...
