Méthode d'étalonnage d'une machine-outil à cinématique parallèle à cinq axes à grands angles d'inclinaison
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In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
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 ...
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 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 ...
In this paper, we present a new method for solving the Motion Retargeting Problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An Inverse Kinematics engine is then us ...
We present a new method for solving the motion retargeting problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An inverse kinematics engine is then used to enforce C ...
The objective of this study is to present a new method of physical activity monitoring, able to detect body postures (sitting, standing and lying) from only one kinematic sensor attached on the chest. Wavelet analysis in conjunction with a simple kinematic ...
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 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 ...