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Pages
Posts
Blog Post number 1
Mis à jour :
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
portfolio
PhD Student’s Day 2023 @ Safran Electronics & Defense
Me during the PhD Student’s Day 2023 of Safran Electronics & Defense
publications
On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
Published in Maple Transactions 2023, 2023
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties (e.g. on conception & fabrication parameters, measures) and their propagations. Such considerations are crucial if we want to control our robot correctly without any undesirable behavior in its workspace (e.g. effects of singularities). In this paper, we will consider two different approaches to study the kinematics and the singularities of the robot of interest: symbolic and semi-numerical. By doing so, we can compute a singularity-free zone in the work- and joint spaces, considering given uncertainties on the parameters. In this zone, we can use any control law to inertially stabilize the upper platform of the robot.
Recommended citation: Alexandre Lê, Damien Chablat, Guillaume Rance, and Fabrice Rouillier. 2023. On the Certification of theKinematics of 3-DOF Spherical Parallel Manipulators. Maple Trans. 3, 2, Article 15660 (August 2023), 17 pages. https://doi.org/10.5206/mt.v3i2.15660
Inertial Line-of-Sight stabilization using a 3-DOF Spherical Parallel Manipulator with coaxial input shafts
Published in OPTRO 2024, 2024
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from the kinematic point of view. In particular, one guarantees that the singular loci (with the resulting numerical instabilities and inappropriate behavior of the mechanism) are far away from the prescribed workspace. Once the kinematics of the device is certified, a control strategy needs to be implemented in order to stabilize the LOS through the upper platform of the mechanism. Such a work is done with MATLAB Simulink® using a SimMechanics™ model of our robot.
Recommended citation: Alexandre Lê, Guillaume Rance, Fabrice Rouillier, Damien Chablat. Inertial Line-of-Sight stabilization using a 3-DOF Spherical Parallel Manipulator with coaxial input shafts. OPTRO 2024 - 11th International Symposium on Optronics in Defence & Security, Jan 2024, Bordeaux, France. ⟨hal-04483255⟩ https://inria.hal.science/hal-04483255v1
On a Software Joint Velocity Limitation of a Spherical Parallel Manipulator with Coaxial Input Shafts
Published in ARK 2024 · International Symposium on Advances in Robot Kinematics, 2024
This article discusses the implementation of a software joint velocity limitation dedicated to a Spherical Parallel Manipulator (SPM) with coaxial input shafts (CoSPM) using a speed control loop. Such an algorithm takes as input the current joint positions as well as the joint reference velocities computed by the speed controller and limit the latter in order to avoid any known singular configuration. This limitation takes into account the workspace properties of the mechanism and the physical characteristics of its actuators. In particular, one takes advantage of the coaxiality of the input shafts of the CoSPM and the resulting unlimited bearing.
talks
Safran Electronics & Defense PhD Students’ Day 2021
Mis à jour :
Subject: “Inertial Stabilization using parallel robots”
Safran Electronics & Defense Tech Days 2022
Mis à jour :
Subject: “Inertial Stabilization using parallel robots”
Séminaire sur la Commande de robots parallèles pour la stabilisation inertielle de dispositifs de visée
Mis à jour :
Subject: “Seminar on the Control of parallel robots for the inertial stabilization of sighting devices”
[Maple Conference 2022] On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
Mis à jour :
During this event, I was given the opportunity to present and defend my first article. The slides are availiable here.
Safran Electronics & Defense PhD Students’ Day 2022
Mis à jour :
Subject: “Inertial Stabilization using parallel robots”
Safran Electronics & Defense PhD Students’ Day 2023
Mis à jour :
Subject: “Inertial Stabilization using parallel robots”
Safran Electronics & Defense Tech Days 2023
Mis à jour :
Subject: “Inertial Stabilization using parallel robots”
Seminar on the Use of a 3-DOF 3-RRR Spherical Parallel Manipulator with Coaxial Input Shafts for the Line-Of-Sight Stabilization
Mis à jour :
Subject: “Using a 3-DOF 3-RRR Spherical Parallel Manipulator with Coaxial Input Shafts for the Line-Of-Sight Stabilization”
[OPTRO 2024] Inertial Line-of-Sight stabilization using a 3-DOF Spherical Parallel Manipulator with coaxial input shafts
Mis à jour :
During this event, I was given the opportunity to present and defend my second article that discussed the idea of using a spherical parallel robot for the purpose of LOS stabilization, given its kinematics.
teaching
Miscellaneous
Private Tutor, SuperProf, 2019
Description
During almost 4 years, I have been working as a private tutor @ SuperProf. My role was to tutor & coach high school or engineering students in courses related to applied Mathematics or Physics.