notice individuelle detaillee - IRCCyN

Philippe Wenger
Publication list, July 2014
Publication list (305)
• Patents (2) :
- D. Chablat et WENGER Ph. : « Dispositif de déplacement et d'orientation d'un objet dans l'espace
et utilisation en usinage rapide». Brevet français : FR2850599 (06/08/2004), Déposant : Centre
National de la Recherche Scientifique CNRS/Ecole Centrale de Nantes. Mandataire : Cabinet
LAVOIX.
- D. Chablat et WENGER Ph. : « Device for the movement and orientation of an object in space
and use thereof in rapid machining». Brevet Européen EP1597017 (23/11/2005); Canadien
CA2515024 (26/08/2004) Américain US 10/544464 (27/05/2011). Déposant : Centre National
de la Recherche Scientifique CNRS/Ecole Centrale de Nantes. Mandataire : Cabinet LAVOIX
(note : version améliorée par rapport au brevet Français)
• Books, book chapters, participation to books (16) :
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S. Caro, D. Chablat, P. Wenger and X. Kong, “Kinematic and Dynamic analysis of a parallel
manipulator with eight actuation modes”, in New Trends in Medical and service Robots,
Springer, 2014
M. Husty, J. Schadlbauer, S. Caro, P. Wenger, “Self-Motions of 3-RPS Manipulators”, in
New Trends in Mechanisms and Machine Science, Theory and Applications in Engineering,
Springer, 2013.
M. Coste, D. Chablat, P. Wenger, “Perturbation of symmetric 3-RPR manipulators and
asymptotic singularities”, in New Trends in Mechanisms and Machine Science, Theory and
Applications in Engineering, Springer, 2013.
S. Amine, S. Caro, P. Wenger, “Constraint and singularity analysis of the Exechon”, in
Periodical of Applied Mechanics and Materials, Mechanisms, Mechanical Transmissions
and Robotics, Vol 162, pp 141-150, Trans Tech. Publications Inc., 2012.
F.A. Lara-Molina, J.M. Rosario, D. Dumur, P. Wenger, “Generalized Predictive Control of
Parallel Robots”, in Lecture Notes in Control and Information Science, Robot Motion and
Control, Vol. 422, pp159-169, 2012.
S. Caro, D. Chablat, R. Ur-Rehman, P. Wenger, “Multiobjective Design Optimization of 3–
PRR Planar Parallel Manipulators”, Global Product Development, DOI 10.1007/978-3-64215973-2_37, © Springer-Verlag Berlin Heidelberg, 2011.
J. Lenarcic, WENGER Ph. (Dir): "Advances in Robot Kinematics: analysis and design",
Springer, 2008, ISBN-13: 978-1-4020-8599-4, 472 pages.
Pashkevich A., Chablat D., WENGER Ph. et R. Gomolitsky, “Calibration of 3-d.o.f.
Translational Parallel Manipulators Using Leg Observations”. I-Tech Education and
Publishing, Chapitre:11. Pages 225-240. Vienna, In: Parallel Manipulators, New
Developments, 2008. Editeurs: J.H. Ryu.
WENGER Ph. : "Performance Analysis of Robots", rédaction d’un chapitre (48 pages) dans
l’ouvrage collectif « Robot manipulators : modelling, performances analysis and control»
Ed. Wiley-ISTE, 2007.
Pashkevich A., Chablat D. et WENGER Ph., “Kinematic calibration of orthoglide-type
mechanisms”, Information Control Problems in Manufacturing, Elsevier, série IFAC Proc,
pp. 149-154, décembre 2006.
CHABLAT D., WENGER Ph., ANGELES J., “ Isotropic design of parallel mechanisms,
application to machining ”, in Integrated Design and Manufacturing in Mechanical
Engineering, Kluwer Academic Publisher, 2002;
CHABLAT D., WENGER Ph., ANGELES J., “ The Kinematic Design of a 3-DOF Hybrid
Manipulator ”, in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer
Academic Publisher, 1999.
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Philippe Wenger
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Publication list, July 2014
WENGER Ph. : "Analyse des performances des robots sériels", rédaction d’un chapitre (63
pages) dans l’ouvrage collectif « Les bases de la robotique » Ed. Hermès, novembre 2001.
CHEDMAIL P., DOMBRE E., WENGER Ph. : "La CAO en Robotique : outils et
méthodologies", Ed. Hermès, Juin 1998, 380 pages.
WENGER Ph. : "Design of Robotic Workcells : synthesis and application", in Integrated
Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publisher, 1997.
REYNIER F., WENGER Ph., CHEDMAIL P. : "On the feasibility of collision-free trajectories for
redundant robots" in Advances in Factories of the future, CIM and Robotics, pp 397-406,
Elsevier Science, 1993.
• Peer reviewed journal papers (53) :
- F. Andres Lara-Molina, J. M. Rosario, D. Dumur, and P. Wenger: ”Robust Generalized
Predictive Control of the Orthoglide Robot”, Industrial Robot: an International Journal, to
appear, 2014.
- M. Husty, J. Schadlbauer, S. Caro, P. Wenger, “Self-Motions of 3-RPS Manipulators”,
Frontiers of Mechanics, Vol. 8(1), pp. 62-69, 2013.
- Germain, C., Caro, S., Briot, S., and Wenger, P., 2013, “Singularity-free Design of the
Translational Parallel Manipulator IRSBot-2”, Mechanism and Machine Theory, Vol. 64, pp.
262–285, june 2013.
- Manubens M., Moroz G., Chablat D., Wenger P, Rouiller F.,“ Cusp Points in the Parameter
Space of Degenerate 3-RPR Planar Parallel Manipulators”, ASME J. of Mechanisms and
Robotics, Vol. 4(4), Novembre, 2012.
- Amine S. Caro S., Wenger, P. Kanaan D., “Singularity analysis of the H4 robot using
Grassmann-Cayley algebra”, Robotica, Vol. 30(7), décembre 2012.
- Amine, S., Tale-Masouleh, M., Caro, S., Wenger, P., and Gosselin, C., “Singularity Analysis of
3T2R Parallel Mechanisms using Grassmann-Cayley Algebra and Grassmann Line Geometry”,
Mechanism and Machine Theory, Vol. 52, juin 2012, pp. 326–340.
- Amine S., Masouleh M., Caro S., Wenger P, C. Gosselin, “Singularity conditions of 3T1R
parallel manipulators with identical limb structures”, ASME J. of Mechanisms and Robotics,
Vol4(1), février 2012.
- Binaud N., Caro S., Wenger P, “Comparison of 3-RPR planar parallel manipulators with regard
to their kinetostatic performance and sensitivity to geometric uncertainties”, Mecanica, Vol. 46
(1), February 2011, pp 75-88.
- Amine, S., Tale-Masouleh, M., Caro, S., Wenger, P., Gosselin, C., 2011, “Singularity Analysis
Of The 4-RUU Parallel Manipulator Using Grassmann-Cayley Algebra”, Trans. Can.Soc.
Mech. Eng., No. 11-CSME-70, E.I.C. Accession 3310, Vol. 35(4), pp. 515–528
- Binaud N., Caro S., Wenger P, “Sensitivity comparison of planar manipulators”, Mechanism
and Machine Theory, Vol. 45 (11), November 2010, pp 1477-1490.
- Moroz G., Rouiller F., Chablat D., Wenger P, “On the determination of cusp points of 3-RPR
parallel manipulators”, Mechanism and Machine Theory, Vol. 45 (11), November 2010.
- Ur-Rehman, R., Caro, S., Chablat, D., Wenger P, 2010, “Multiobjective Path Placement
Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces
and Maximum Actuators Torques: Application to the Orthoglide”, Mechanism and Machine
Theory, Vol. 45(8), August 2010, pp. 1125-1141.
- Caro S., Binaud N., Wenger P: "Sensitivity Analysis of 3-RPR Planar Parallel Manipulators,"
ASME Journal of Mechanical Design Vol.131(12), december 2009.
- Ur-Rehman R., CARO S., Chablat D. et Wenger P : “Path placement optimization of
manipulators based on energy consumption: application to the orthoglide 3-axis”, Trans. Can.
Soc. Mech. Eng, Vol.33(3), pp. 523–541, 2009.
- Kanaan D., Wenger P, Caro S., Chablat D., “Singularity Analysis of Lower-Mobility Parallel
Manipulators Using Grassmann-Cayley Algebra”, IEEE Transactions on Robotics, vol. 25 (5),
pp. 995-1004, October 2009.
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Philippe Wenger
Publication list, July 2014
- Pashkevich A., Klimchik A, Chablat D., Wenger P : “Stiffness analysis of multi-chain robotic
systems with loading”. J. of Aut., Mobile Robotics and Intelligent Systems, Vol. 3(3), 2009, pp.
75-82.
- Pashkevich A., Chablat D., Wenger P, “Kinematic calibration of Orthoglide-type mechanisms
from observation of parallel leg motions”, IFAC Mechatronics, vol. 19,(4).pp. 478-488. Juin
2009.
- Chablat D., Wenger P, Staicu, S., “Dynamics of the Orthoglide parallel robot”, UPB Scientific
Bulletin, Series D: Mechanical Engineering, Volume 71 (3), pp. 3-16, 2009.
- Pashkevich A., Chablat D., Wenger P : “Stiffness analysis of overconstrained parallel
manipulators”. Mechanism and Machine Theory, Vol. 44(5), Mai 2009, pp. 966-982.
- Kanaan D., Wenger P, Chablat D., “Kinematic Analysis of a Serial - Parallel Machine Tool: the
VERNE machine”, Mechanism and Machine Theory, Vol. 44(2), Février 2009, pp. 487-498.
- Briot S., Bonev I., Chablat D., Wenger P et Vigen Arakelian : “Self motions of general 3-RPR
parallel robots”, International Journal of Robotics Research, Vol. 27, No. 7, pp. 855-866, mai
2008.
- Zein M., Wenger P., D. Chablat : “Non-Singular Assembly-mode Changing Motions for 3-RPR
Parallel Manipulators”. Mechanism and Machine Theory, Volume 43(4) pp. 391-524, Avril
2008.
- Zein M., Wenger P., D. Chablat : “ Singular Curves in the Joint Space and Cusp Points of 3RPR parallel manipulators ”. Special issue of Robotica on Geometry in Robotics and Sensing,
Volume 25(6), pp.717-724, 2007.
- Wenger P : “Cuspidal and noncuspidal robot manipulators”. Special issue of Robotica on
Geometry in Robotics and Sensing, Volume 25(6), pp.677-690, 2007.
- Majou F., Gosselin C., Wenger P, Chablat D.: “Parametric stiffness analysis of the Orthoglide”.
Mechanism and Machine Theory, Volume 42(3), pp. 296-311, mars 2007.
- Wenger P, D. Chablat, Zein M.: “Degeneracy study of the forward kinematics of planar 3-RPR
parallel manipulators”. ASME J. of Mechanical Design, Vol 129(12), pp 1265-1268, december
2007.
- Zein M., Wenger P., Chablat D. : “An Exhaustive Study of the Workspace Topologies of all 3R
Orthogonal Manipulators with Geometric Simplifications”. Mechanism and Machine Theory,
2006, Volume 41(8), pp. 971-986, August 2006.
- Kanaan D., Wenger P, Chablat D. : “Workspace Analysis of the Parallel Module of the VERNE
Machine”. Problems of Mechanics, Vol. 25, N°4, pp 26-42, 2006.
- Caro S., Wenger P, Bennis F. “Robustness Study of Generic and Non-Generic 3R Positioning
Manipulators”, Problems of Mechanics, Vol. 22, N°1, pp 9-23, janvier 2006.
- Alba-Gomez O., Wenger P, Pamanes A. “Performance Indices For Kinematically Redundant
Parallel Planar Manipulators”, Problems of Mechanics, Vol. 22, N°1, pp 22-40, janvier 2006.
- Caro S. Wenger P, Bennis F., Chablat D. “Sensitivity Analysis of the Orthoglide, a 3-DOF
Translational Parallel Kinematic Machine”, ASME Journal of Mechanical Design, Vol. 128 (3),
2006.
- Innocenti C., Wenger P : “Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure”,
ASME Journal of Mechanical Design, Vol. 128 (1), pp 272-278, 2006.
- Pashkevich A., Chablat D et Wenger P, “Kinematics and Workspace Analysis of a three-Axis
Parallel Manipulator : the Orthoglide”, Robotica, Vol. 24 (1), pp 39-49, 2006.
- Wenger P., Chablat D, Baili M., “A DH parameter based condition for 3R orthogonal
manipulators to have four distinct inverse kinematic solutions”, ASME Journal of Mechanical
design, Vol. 127(1), pp 150-155, janvier 2005.
- Caro S., Bennis F., Wenger P., “Tolerance Synthesis of Mechanisms: a Robust Design
Approach”, ASME Journal of Mechanical Design, Vol. 127(1), pp 86-94, janvier 2005.
- Pashkevich A., Wenger P et Chablat D, “Design Strategies for the Geometric Synthesis of
Orthoglide-type Mechanisms”, Mechanism and Machine Theory, Volume 40(8), pp. 907-930,
Août 2005.
- Wenger P, Chablat D., Pashkevich A. “Geometric synthesis of orthoglide-type mechanisms”.
Transactions of Belarusian Engineering Academy, 17, (4), pp 69-72, 2004.
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Philippe Wenger
Publication list, July 2014
- Baili M., Wenger P., Chablat D, “Kinematic Analysis of a Family of 3R manipulators”,
Problems of Mechanics, Vol. 15, N°2, pp 27-32, juillet 2004.
- Wenger P., “Curve Following for Redundant manipulators with Obstacles : Feasibility Analysis
and Solutions”, Problems of Mechanics, Vol. 15, N°2, pp 17-26, juillet 2004.
- Wenger P., “Uniqueness domains and regions of feasible paths for cuspidal manipulators »,
IEEE Transactions on Robotics, Vol. 20(4), pp. 745-750, août 2004.
- Chablat D, Wenger P., Majou F., Merlet J.P., “An Interval Analysis Based Study for the Design
and the Comparison of 3-DOF Parallel Kinematic Machines”, International Journal of Robotics
Research, Vol. 23 (6), pp 615-624, June 2004.
- Chablat D., Wenger P., “ Architecture Optimization of a 3-DOF Parallel Mechanism for
Machining Applications, the Orthoglide”, IEEE Transactions on Robotics and Automation, vol.
19(3), pp 403-410, June 2003.
- Wenger P, Gosselin C., Chablat D, « A Comparative Study of Parallel Kinematic Architecture
for Machining Applications », Electronic Journal of Computational Kinematics, 2002.
- Chablat D., Wenger P., “Separations of solutions to the direct and the inverse geometric models
for fully parallel manipulators”, Mechanism and Machine Theory, vol. 36 (6), pp 763-783,
2001.
- Wenger P. : "Some guidelines for the kinematic design of new Manipulators", Mechanisms and
Machine Theory, Vol 35(3), pp 437-449, Décembre 1999.
- Wenger P. : "Classification of 3R Positioning Manipulators", ASME Journal of Mechanical
Design, vol 120(2), pp 327-332, 1998.
- Wenger P., El Omri J. : "Comments on a classification of 3-R manipulators singularities and
geometries", Mechanism and Machine Theory, Vol.32, No 4, pp 529-532, avril 1997.
-Thomas H., Wenger P.: “Planification des trajectoires d'une flotte de chariots mobiles”, Revue
d'Automatique et de Productique Appliquée (RAPA), Hermès, vol 7, n° 5, pp. 563-570, 1994.
- Wenger P. : "Kinematic analysis of manipulators with general geometry : generalization of the
aspects". Transactions of the C.S.M.E, Vol. 17, n° 4, pp. 493-511, december 1993.
- Wenger P., Chedmail P. : "Manipulator free-workspace : a new approach for robotic CAD
systems", Int J. of Systems Automation : Research and Application, Vol. 2, N°2, pp 167-183,
1992.
- Wenger P., Chedmail P. : "On the connectivity of manipulator free-workspace", Journal of
Robotic Systems, Vol. 8(6), pp 767-799, december 1991.
- Wenger P., Chedmail P. : "Ability of a robot to travel through its free-workspace in an
environment with obstacles", The Int. Journal of Robotics Research, Vol. 10(3), pp 214-227,
June 1991
-Wenger P.: "Reconfiguration des robots exécutant une tâche de poursuite de trajectoires
continues, généralisation de la notion d'aspects", Revue d'Automatique et de Productique
Appliquées, Vol 4(3), pp 253-279, 1991, Ed. Hermès.
• Invited talks (22) :
- P. Wenger : “Design of a parallel manipulator with variable actuation”, MESROB’2013, Institut
Mihailo Pupin, Belgrade, 3-6 juillet 2013.
- WENGER Ph : “Dealing with singularities in planar parallel manipulators”, Robotic Systems for
Handling and Assembly, High Dynamic Parallel Structures with Adaptronic Components, 3rd
Colloquium of the Collaborative Research Center 562, Technical University Braunschweig
German Aerospace Center, 28-29 avril 2008.
- Pashkevich A., WENGER Ph. et Chablat D. : “Kinematic and stiffness analysis of the Orthoglide,
a PKM with simple, regular workspace and homogeneous performances”. IEEE International
Conference on Robotics and Automation, avril 2007, Rome, Italie.
- WENGER Ph : “Complex mechanical systems and parallel manipulators”, Conférence à
l’Instituto Tecnologico de la Laguna, septembre 2007, Torreon (Mexique).
- WENGER Ph : “Classification des robots 3R et proposition de nouvelles architectures”,
Conférence plénière aux JNRR, octobre 2007, Obernai.
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Philippe Wenger
Publication list, July 2014
- WENGER Ph : “Parallel manipulators and the Orthoglide project”, Conférence à l’Université de
Coahuila, septembre 2007, Torreon (Mexique).
- WENGER Ph : “Classification of Cuspidal Robots”, Workshop Real Geometry and Quadratic
forms, Institut Poincarré, Paris, 2-9 novembre 2005.
- WENGER Ph : “Projet européen NEXT : montage et retour d’expérience”, Journées l'europe de
la recherche et de l'innovation, Le Mans, 3-4 octobre 2005.
- WENGER Ph. "Some aspects of robotics research : special focus on parallel robots", conférence à
l’Institut Technologique de la Laguna, Mexique, janvier 2004.
- WENGER Ph. "Design of robots and robotic site", conférence à l’Université Autonome de
Coahula, Mexique, février 2004.
- WENGER Ph : “On the kinematics of cuspidal robot manipulators”, COMRob’04, octobre 2004,
Torreon (Mexique), pp 1-10. Keynote Speaker, Association Mexicaine de Robotique.
- WENGER Ph : “Conception géométrique de mécanismes parallèles”, Journées nationales de
calcul formel, Marseille, janvier 2003.
- WENGER Ph. "Cuspidal robots and triple roots", Summer School on Computer Tools for Real
Algebraic Geometry (RAAG’2003), Rennes, juillet 2003.
- WENGER Ph. : "Why does Robotics need Algebraic Geometry ? ", Workshop on Computations
in Real Algebraic Geometry and Applications, 13-15 juin 2002, Santanders, Espagne.
- WENGER Ph. "Singularities and Robotics", Workshop RAAG’01, Rennes, juin 2001.
- WENGER Ph. "Optimisation de mécanismes : le projet Orthoglide", Conférence à l’Université de
Liège, Liège, décembre 2001.
- WENGER Ph. "Le projet Orthoglide", Séminaire du LMS, Poitiers, octobre 2001.
- WENGER Ph. "On cuspidal robots", Conférence à l’Université Laval, Québec, juillet 2001.
- WENGER Ph. : "Singularity Analysis and Classification of Generic 3R Regional Manipulators",
Mc Gill University Seminar, 10 mai 1996, Montréal, Canada.
- CHEDMAIL P. et WENGER Ph. : "Optimal design of an airplane robot washer", Congrès Int. de
Génie Industriel de Montréal, pp. 367-376, oct. 1995.
- REYNIER F, CHEDMAIL P, WENGER Ph. : "Automatic positioning of robots, continuous
trajectories feasibility among obstacles", I.E.E.E. Int. Conf. on Syst., Man. and Cybern., Oct. 92.
- WENGER Ph. : "Parcourabilité de l'espace de travail des robots manipulateurs", Séminaire du
LAAS, Janvier 1990, Toulouse.
• Peer-reviewed papers in international conferences (140) :
- L. Gagliardini, S. Caro, M. Gouttefarde, P. Wenger and A. Girin : “A reconfigurable CableDriven Parallel Robot for Sandblasting and Painting of Large Structures, 2nd IFToMM Int. Conf.
on Cable-Driven Parallel Robots, August 24-27, 2014, Duisburg, Germany.
- L. Nurahmi, J. Schadlbauer, M. Husty, P. Wenger, S. Caro : “Kinematic Analysis of the 3-RPS
Cube Parallel Manipulator”, Proceedings of the ASME 2014 International Design Engineering
Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE
2014, Buffalo, USA, August 17-20, 2014.
- L. Gagliardini, S. Caro, M. Gouttefarde, P. Wenger and A. Girin : “Optimal Design of CableDriven Parallel Robots for Large Industrial Structures, IEEE International Conference on
Robotics and Automation ICRA 2014, 31 May -7 June 2014, Hong-Kong.
- L. Nurahmi, J. Schadlbauer, M. Husty, P. Wenger, S. Caro : “Motion Capability of the 3-RPS
Cube Parallel Manipulator”, 14th International Symposium on Advances in Robot Kinematics,
29 June-3 July 2014, Ljubljana, Slovenia.
- S. Caro, L. Nurahmi, P. Wenger, “Graphical User Interface for the Singularity Analysis of
Lower-Mobility Parallel Manipulators”, IFToMM European Conf. on Mechanism Science
(EUCOMES’2014), 16-19 Septembre 2014, Guimaraes, Portugal.
- M. Coste, D. Chablat, P. Wenger : “Nonsingular change of assembly mode without any cusp”,
14th International Symposium on Advances in Robot Kinematics, 29 June-3 July 2014,
Ljubljana, Slovenia.
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Philippe Wenger
Publication list, July 2014
- Josef Schadlbauer, Latifah Nurahmi, Manfred Husty,, Philippe Wenger, Stéphane Caro :
“Operation Modes in Lower-Mobility Parallel Manipulators”, Second Conference on
Interdisciplinary Applications in Kinematics, September 9-11, 2013, Lima, Peru.
- C. Germain, S. Caro, S. Briot, Ph. Wenger: “Optimal Design of the IRSBot-2 Based on an
Optimized Test Trajectory”, Proceedings of the ASME 2013 International Design Engineering
Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE
2013, Baltimore, USA, August 4-7, 2013. .
- S. Amine, L. Nurahmi, Ph. Wenger, S. Caro: “Conceptual design of Schoenflies motion
generators based on the wrench graph”, Proceedings of the ASME 2013 International Design
Engineering Technical Conferences and Computers and Information in Engineering Conference
IDETC/CIE 2013, Baltimore, USA, August 4-7, 2013.
- Manfred Husty, Josef Schadlbauer, Stéphane Caro, Philippe Wenger: “The 3-RPS Manipulator
Can Have Non-Singular Assembly-Mode Changes”, Proceedings of CK2013, International
Workshop on Computational Kinematics, Barcelone, 12-15 mai 2013.
- S. Caro, P. Wenger, D. Chablat, “Non-Singular Assembly Mode Changing Trajectories of a 6DOF Parallel Robot”, Proceedings of the ASME 2012 International Design Engineering
Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE
2012, Chicago, Illinois, USA, August 12-15, 2012.
- M. Coste, D. Chablat, P. Wenger, “Perturbation of symmetric 3-RPR manipulators and
asymptotic singularities”, European Conf. on Mechanism Science, 12-22 Septembre 2012,
Santander, Espagne.
- M. Husty, J. Schadlbauer, S. Caro, P. Wenger, “Self-Motions of 3-RPS Manipulators”,
European Conf. on Mechanism Science, 12-22 Septembre 2012, Santander, Espagne.
- S. Amine, S. Caro, P. Wenger, “Constraint and singularity analysis of the Exechon”, Joint Int.
Conf. on Robotics and on Mechanisms and Mechanical Transmissions, 6-8 juin 2012,
Clermond-Ferrand, France.
- S. Briot, V. Arakelian, D. Chablat and P. Wenger, “Optimal Force Generation of 3-RRR
Decoupled Planar Robots for Ensuring Unlimited Platform Rotation”, 19th CISM-IFToMM
Symposium on Robot Design, Dynamics, and Control (ROMANSY 2012), June 12–14, 2012,
Paris, France.
- D. Nguyen, S. Briot et P. Wenger, “Analysis of the dynamic performances of serial 3R
orthogonal manipulators”, ASME Int. Conf on Engineering System Design and Analysis,
Nantes, 2-4 Juillet 2012.
- D. Chablat, G. Moroz, V. Arakekyan, S. Briot et P. Wenger, “Solution regions in the parameter
space of a 3-RRR decoupled robot for a prescribed workspace”, Advances in Robot Kinematics,
Innsbrück, Austria, June 24-28, 2012.
- C. Germain, S. Briot, S. Caro et P. Wenger, “Constraint singularity-free design of the
IRSBOT2”, Advances in Robot Kinematics, Innsbrück, Austria, June 24-28, 2012.
- M. Costes, P. Wenger et D. Chablat, “Singular surfaces and cusps in symmetric planar 3-RPR
manipulators”, IEEE International Conference on Intelligent Robots and Systems IROS 2011,
25-30 sept. 2011, San Fransisco, USA.
- F. Thomas, P. Wenger, “On the Topological Characterization of Robot Singularity Loci. A
Catastrophe-Theoretic Approach”, IEEE International Conference on Robotics and Automation
ICRA 2011, 9-13 mai 2011, Shanghai, Chine.
- D. Chablat, G. Moroz, P. Wenger, “Uniqueness domains and non singular assembly mode
changing trajectories”, IEEE International Conference on Robotics and Automation ICRA 2011,
9-13 mai 2011, Shanghai, Chine.
- F. A. Lara Molina; J. M. Rosario; D. Dumur et P. Wenger, “General Predictive Control of
Parallel Robots”, IEEE Int. Workshop RoMoCo’2011, 15-17 juin 2011, Bukowy Dworek,
Pologne.
- S. Amine, M. Masouleh, S. Caro, P. Wenger, C. Gosselin, “Singularity analysis of the 4-RUU
parallel manipulator based on grassmann-cayley algebra and grassmann geometry”, Proceedings
of ASME Design Engineering Technical Conferences, 28 aout-2 sept 2011, Washington, USA.
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Philippe Wenger
Publication list, July 2014
- C. Germain, S. Briot, V. Glazunov, S. Caro, P. Wenger, “IRSBOT-2: a novel two-dof parallel
robot for high-speed operations”, Proceedings of ASME Design Engineering Technical
Conferences, 28 aout-2 sept 2011, Washington, USA.
- S. Amine, M. Tale-Masouleh, S. Caro, P. Wenger, C. Gosselin, “Singularity Analysis of 5-DOF
Parallel Mechanisms 3T2R using Grassmann-Cayley Algebra”, 13th World Congress in
Mechanism and Machine Science, 19-25 juin 2011, Guanajuato, Mexique.
- A.K. Zaiter, P. Wenger et D. Chablat, “A study of the singularity locus in the joint space of
planar parallel manipulators: special focus on cusps and nodes”, 4th Int. Conf. on Design and
Modelling of Mech. Syst, 30 Mai-1 Juin 2011, Sousse, Tunisie.
- G. Moroz, D. Chablat, P. Wenger, F. Rouillier, “Cusp points in the parameter space of RPR2PRR parallel manipulators”, European Conf. on Mechanism Science, 14-18 Septembre 2010,
Cluj-Napoca, Roumanie.
- N. Binaud, S. Caro, S. Bai, P. Wenger. “Comparison of 3-PPR Parallel Planar Manipulators
based on their Sensitivity to Joint Clearances”, IEEE/RSJ International Conference on
Intelligent Robots and Systems, 18-22 octobre 2010, Taipei, Taiwan.
- Amine, S., Kanaan, D., Caro, S. and Wenger, P. “Singularity Analysis of Lower-Mobility
Parallel Robots with an Articulated Nacelle”, Advances in Robot Kinematics, Piran-Portoroz,
Slovenia, June 27 - July 1, 2010.
- Binaud, N., Cardou, P., Caro, S. and Wenger, P., “The Kinematic Sensitivity of Robotic
Manipulators to Joint Clearances”, Proceedings of ASME Design Engineering Technical
Conferences, August 15-18, 2010, Montreal, QC., Canada.
- Chablat, D., Caro, S., Ur-Rehman, R. and Wenger, P., “Comparison of Planar Parallel
Manipulator Architectures based on a Multi-objective Design Optimization Approach”,
Proceedings of ASME Design Engineering Technical Conferences, August 15-18, 2010,
Montreal, QC., Canada.
- Amine, S., Kanaan, D., Caro, S. and Wenger, P. “Constraint and Singularity Analysis of Lowermobility Parallel Manipulators with Parallelogram Joints”, Proceedings of ASME Design
Engineering Technical Conferences, August 15-18, 2010, Montreal, QC., Canada.
- Jacquenot G., Bennis F., Maisonneuve J.J., et Wenger P. : 2D Multi-Objective Placement
Algorithm for Free-Form Components. In Proceedings of ASME 2009 International Design
Engineering Technical Conferences & Computers and Information in Engineering
Conference, San Diego, CA, USA, septembre 2009.
- Ur-Rehman R., Caro S., Chablat D. et Wenger P., “Kinematic and Dynamic Analysis of the 2DOF Spherical Wrist of Orthoglide 5-axis”, Troisième Congrès International. Conception et
Modélisation des Systèmes Mécaniques, Hammamet, Tunisie, 16-18 Mars 2009.
- Wenger P. et Chablat D., “Kinematic analysis of a class of analytic planar 3-RPR parallel
manipulators”, Proceedings of CK2009, International Workshop on Computational Kinematics,
Duisburg, May 5-8, 2009.
- Binaud N., Wenger P. et Caro S., “Sensitivity and Dexterity Comparison of 3-RRR planar
parallel manipulators”, Proceedings of CK2009, International Workshop on Computational
Kinematics, Duisburg, May 5-8, 2009.
- Pashkevich A., Chablat D., Wenger P., “Design optimization of parallel manipulators for highspeed precision machining applications”, 13th IFAC Symposium on Information Control
Problems in Manufacturing, 3 - 5 Juin, 2009, Moscou, Russia.
- Pashkevich A., Klimchick A., Chablat D., Wenger P, “Accuracy Improvement for Stiffness
Modeling of Parallel Manipulators”, 42ème CIRP Conference on Manufacturing Systems, 3 - 5
Juin, Grenoble 2009.
- Boyer F., Chablat D., Lemoine P. et Wenger P., “The eel-like robot”, In Proceedings of ASME
2009 International Design Engineering Technical Conferences & Computers and Information in
Engineering Conference, San Diego, CA, USA, septembre 2009.
- N. Binaud, S. Caro et P. Wenger. Sensitivity analysis of degenerate and nondegenerate planar
parallel manipulators. EUCOMES'08, Septembre, 2008, Cassino, Italie, IFToMM.
- S. Caro, N. Binaud et P. Wenger. Sensitivity analysis of planar parallel manipulators. ASME
IDETC, Aout, 2008, New-York, USA, ASME.
7
Philippe Wenger
Publication list, July 2014
- A. Pashkevich, D. Chablat et P. Wenger. Stiffness Analysis of 3-d.o.f. Overconstrained
Translational Parallel Manipulators. IEEE International Conference on Robotics and
Automation ICRA 2008, 2008, Passadena.
- D. Kanaan, P. Wenger et D. Chablat. Singularity Analysis of Limited-dof Parallel Manipulators
using Grassmann-Cayley Algebra. 11th International Symposium on Advances in Robot
Kinematics, 2008, Batz sur Mer.
- O. Alba-Gomez, A. Pamanes et P. Wenger : Trajectory planning of parallel manipulators
for global performance optimization. 11th International Symposium on Advances in Robot
Kinematics, 2008, Batz sur Mer.
- P. Ben-horin, M. Shoham, S. Caro, D. Chablat et P. Wenger. SINGULAB – A Graphical user
interface for the singularity analysis of parallel robots based on Grassmann-Cayley algebra. 11th
International Symposium on Advances in Robot Kinematics, 2008, Batz sur Mer.
- R. Ur-rehman, S. Caro, D. Chablat et P. Wenger. Kinematic and Dynamic Analyses of the
Orthoglide 5-axis. 7th France-Japan/ 5th Europe-Asia Congress on Mechatronics, Mai, 2008, Le
Grand-Bornand.
- I. Bonev, S. Briot, P. Wenger et D. Chablat. Changing Assembly Modes without Passing
Parallel Singularities in Non-Cuspidal 3-RPR Planar Parallel Robots. 2nd International
Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and
Manipulators, Septembre, 2008, Montpellier. .
- A. Pashkevich, D. Chablat et P. Wenger. Stiffness Analysis Of Multi-Chain Parallel Robotic
Systems. Proc. 9th IFAC Workshop on Intelligent Manufacturing Systems, Octobre, 2008.
- M. Zein, P. Wenger et D. Chablat : “A design oriented study for 3R Orthogonal Manipulators
With Geometric Simplifications”. Congrès international Conception et Modélisation des
Systèmes Mécaniques (CMSM), 2007.
- M. Zein, P. Wenger et D. Chablat : “Singularity Surfaces and Maximal Singularity-Free Boxes
in the Joint Space of Planar 3-RPR Parallel Manipulators”. 12th World Congress in Mechanism
and Machine Science, Juin, 2007, Besançon, IFToMM.
- Pashkevich A., WENGER Ph. et Chablat D. : “Kinematic and stiffness analysis of the Orthoglide,
a PKM with simple, regular workspace and homogeneous performances”. IEEE International
Conference on Robotics and Automation, avril 2007, Rome, Italie.
- D. Kanaan, P. Wenger et D. Chablat : “Kinematics analysis of the parallel module of the
VERNE machine”. 12th World Congress in Mechanism and Machine Science, Juin, 2007,
Besançon, IFToMM.
- O. Alba-Gomez, A. Pamanes et P. Wenger : “Trajectory planning of a redundant parallel
manipulator changing of working mode”. 12th World Congress in Mechanism and Machine
Science, Juin, 2007, Besançon, IFToMM.
- H. Moreno, A. Pamanes, P. Wenger et D. Chablat : “Global Optimization of Performance of &
2PRR Parallel Manipulator for Cooperative Tasks”. 3rd International Conference on Informatics
in Control, Automation & Robotics, Aout, 2006, Setubal, Portugal.
- D. Chablat et P. Wenger: “A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide
And A Hybrid Agile Eye”. ASME Design Engineering Technical Conferences, Septembre,
2006, Philadelphie.
- D. Chablat, WENGER Ph et I. Bonev: “Self Motions of a Special 3-RPR Planar Parallel Robot”.
International Symposium on Advances in Robot Kinematics, Kluwer Academic Publishers, pp
221-228, 2006.
- M. Zein, WENGER Ph et D. Chablat : “Singular curves and cusp points in the joint space of 3RPR parallel manipulators”. IEEE International Conference On Robotics And Automation, mai
2006, Orlando, USA.
- A. Paskhevich, D. Chablat et WENGER Ph. : “Kinematic calibration of orthoglide-type
mechanisms”. IFAC Symposium on Information Control Problems in Manufacturing, mai 2006,
St Etienne, France.
- M. Zein, WENGER Ph et D. Chablat: “An Algorithm for Computing Cusp Points in the Joint
Space of 3-RPR Parallel Manipulators”. European Conference on Mechanism Sciences,
EuCoMeS, 2006, Obergurgl, Austria.
8
Philippe Wenger
Publication list, July 2014
- I. Bonev, D. Chablat et WENGER Ph : “Working and Assembly Modes of the Agile Eye”. IEEE
International Conference On Robotics And Automation, 2006, Orlando, USA.
- M. Baili, D. Chablat et WENGER Ph : “Analyse Comparative des Manipulateurs 3R à Axes
Orthogonaux”. Congrès international Conception et Modélisation des Systèmes Mécaniques
(CMSM), Mars, 2005, Hammamet,Tunisie.
- D. Chablat et WENGER Ph : “Design of Spherical Wrist with Parallel Architecture : Application
to Vertebrae of an Eel Robot”. IEEE International Conference On Robotics And Automation,
Avril, 2005, Barcelone, Espagne.
- M. Zein, WENGER Ph et D. Chablat : “An Exhaustive Study of the Workspace Topologies of all
3R Orthogonal Manipulators with Geometric Simplifications”. International Workshop on
Computational Kinematics, Mai, 2005, Cassino, Italie, CK2005.
- D. Chablat et WENGER Ph : “Integration of a Balanced Virtual Manikin in a Virtual Reality
Platform aimed at Virtual Prototyping”. Int. Conf. Virtual Concept’05, 8-10 novembre 2005,
Biarritz, France.
- O. Alba-Gomez, WENGER Ph et A. Pamanes: “Consistent Kinetostatic indices for planar 3-DOF
parallel manipulators, application to the optimal kinematic inversion”, ASME Design
Engineering Technical Conferences, 24-28 septembre 2005, Long Beach, U.S.A.
- WENGER Ph : “Classification of Cuspidal Robots”, Workshop Real Geometry and Quadratic
forms, Institut Poincarré, Paris, 2-9 novembre 2005.
- H. Moreno, A. Pamanes et P. Wenger: “Planificacion de Movimientos de un Robot Paralelo
2PRR para Tareas con una Plataforma Translacional Cooperante”, COMRob'05.
- C. Innocenti et WENGER Ph : “Position Analysis of the RRP-3(SS) Multi-Loop Spatial
Structure”, ASME Design Engineering Technical Conferences, 28 Septembre-2 Octobre 2004,
Salt Lake City, Utah, USA.
- WENGER Ph : “On the kinematics of cuspidal robot manipulators”, COMRob’04, octobre 2004,
Torreon (Mexique), pp 1-10. Keynote Speaker, Association Mexicaine de Robotique.
- S. Caro, WENGER Ph, F. Bennis et D. Chablat : “Sensitivity Analysis of the Orthoglide, a 3DOF Translational Parallel Kinematic Machine”, ASME Design Engineering Technical
Conferences, 28 Septembre-2 Octobre 2004, Salt Lake City, Utah, USA.
- O. Alba-Gomez, A. Pamanes et WENGER Ph : “Optimacion Global del Desempeno d
Manipuladores Paralelos Redundantes en la Ejecucion de Trayectorias Especificadas”
COMRob’04, 2004, Torreon (Mexique), pp 45-50. Association Mexicaine de Robotique.
- S. Moquet, WENGER Ph, A. Pamanes, H. Moreno et G. Franco : “Aspectos del Diseno
Conceptual de un Robot Ambulante Bipedo de 4 Grados de Libertad”. COMRob’04, 2004,
Torreon (Mexique), pp 35-44.
- WENGER Ph, M. Baili et D. Chablat. “A Workspace based Classification of 3R Orthogonal
Manipulators”, 8th Int. Symposium on Advances in Robot Kinematics, Kluwer Academic
Publishers, Sestry-Levante, Italie, juin 2004, pp 219-228.
- A. Pashkevich, D. Chablat et WENGER Ph, “The Orthoglide : Kinematics and Workspace
Analysis”. 8th Int. Symposium on Advances in Robot Kinematics, Kluwer Academic
Publishers, Sestry-Levante, Italie, juin 2004, pp 237-246.
- D. Chablat et WENGER Ph, “The Kinematic Analysis of a Symmetrical Three-Degree-ofFreedom Planar Parallel Manipulator”. CISM-IFToMM Symposium on Robot Design,
Dynamics and Control, Kluwer Academic Publishers, juin 2004.
- M. Baili, WENGER Ph et D. Chablat, “A Classification of 3R Orthogonal Manipulators by the
Topology of their Workspace”, IEEE International Conference On Robotics And Automation,
mai 2004, pp 1933-1938.
- D. Chablat, WENGER Ph et J.P. Merlet, “A Comparative Study between Two Three-DOF
Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis”. 11th IFToMM
World Congress in Mechanism and Machine Science, avril 2004.
- F. Majou, D. Chablat , et WENGER Ph : «« Parametric stiffness Analysis of the Orthoglide »,
International Symposium on Robotics - Paris, mars 2004.
- D. Chablat , F. Majou et WENGER Ph : «The Optimal Design of a 3-DOF Parallel Mechanism
for Machining Applications», the 11Th International Conference on Advanced Robotics,
University of Coïmbra - Portugal, juin 2003.
9
Philippe Wenger
Publication list, July 2014
- S. Caro, F. Bennis et WENGER Ph: « Tolerance Synthesis of Mechanisms: A Robust Design
Approach » ASME 29th Design Automation Conference, octobre 2003.
- S. Caro, F. Bennis et WENGER Ph: « Robust design and tolerance analysis of mechanisms »
CIRP Design seminar - Grenoble, mai 2003.
- M. Baili, WENGER Ph et D. Chablat : « Classification of one family of 3R positioning
Manipulators » The 11Th International Conference on Advanced Robotics, University of
Coïmbra - Portugal, juin 2003.
- D. Chablat et WENGER Ph : « A New Concept of Modular Parallel Mechanism for Machining
Applications » Proc. IEEE Int. Conf. on Robotics and Automation, 2003.
- WENGER Ph. "Cuspidal robots and triple roots", Summer School on Computer Tools for Real
Algebraic Geometry (RAAG’2003), Rennes, juillet 2003.
- WENGER Ph. : "Why does Robotics need Algebraic Geometry ? ", Workshop on Computations
in Real Algebraic Geometry and Applications, 13-15 juin 2002, Santanders, Espagne.
- F. Majou, WENGER Ph et D. Chablat : « A Novel method for the design of 2-DOF Parallel
mechanisms for machining applications » 8th International Symposium on Advances in Robot
Kinematics, Kluwer Academic Publishers, Juin, 2002, Caldes de Malavella, Spain.
- D. Chablat, WENGER Ph et J.P. Merlet : « Workspace Analysis of the Orthoglide using Interval
Analysis » 8th International Symposium on Advances in Robot Kinematics, Kluwer Academic
Publishers, Juin, 2002, Caldes de Malavella, Spain.
- D. Chablat, S. Caro, WENGER Ph et J. Angeles : « The Isoconditioning Loci of Planar ThreeDOF Parallel Manipulators » 29Th Design Automation Conference, ASME, 2002, Montréal,
Canada.
- WENGER Ph et D. Chablat : « Design of a Three-Axil Isotropic Parallel Manipulator for
Machining Applications : the Orthoglide » Workshop on Fundamental Issues and Future
Research Directions for Parallel mechanisms and Manipulators, Clément M. Gosselin and Imme
Ebert-Uphoff, editors, 2002, Quebec City, Canada.
- A. Pamanes, WENGER Ph et J.L. Zapata : « Motion Planning of Redundant Manipulators for
Specified Trajectory Tasks » 8th International Symposium on Advances in Robot Kinematics,
Kluwer Academic Publishers, Juin, 2002, Caldes de Malavella, Spain, Pages:203-212.
- S. Guegan, W. Khalil, D. Chablat et WENGER Ph : « Modélisation dynamique d'un robot
parallèle à 3-DDL : l'Orthoglide » 2ème Conférence Internationale Francophone d'Automatique
CIFA 2002, Juillet, 2002, Nantes, France, Pages:136-141.
- D. Chablat, S. Caro, WENGER Ph et J. Angeles : « The Isoconditioning Loci of Planar ThreeDOF Parallel Manipulators » 4ème Conférence Internationale sur la Conception et la fabrication
Intégrées en Mécanique, IDMME, Mai, 2002, Clermont-Ferrand, France.
- WENGER Ph, F. Majou et D. Chablat : « Design of a 3 Axis Parallel Machine Tool for High
Speed Machining : the Orthoglide » 4ème Conférence Internationale sur la Conception et la
fabrication Intégrées en Mécanique, IDMME, Mai, 2002, Clermont-Ferrand, France.
- WENGER Ph, Gosselin C. et Chablat D., “ A Comparative Study of Parallel Kinematic
Architectures for Machining Applications ”, 2nd Workshop on Computational Kinematics,
Séoul, Korée, pp. 249-258, Mai 2001.
- Majou F., WENGER Ph., Chablat D., “ The Design of Parallel Kinematic Machine Tools Using
Kinetostatic Performance Criteria ”, 3d Int. Conference on Metal Cutting, Metz, France, Juin,
2001.
- WENGER Ph., CHABLAT D., “Kinematic analysis of a new parallel kinematic machine-tool : the
orthoglide”, Proc. Advances in Robot Kinematics, Kluwer Academic Publishers, Portoroz,
Slovenia, Juin 2000.
- CHABLAT, D., WENGER, Ph., “ A new 3-DOF Parallel Machine Tool Mechanism ”, 3rd
International Seminar on Parallel Kinematics, Avril 2000, Chemnitz.
- CHABLAT D., WENGER Ph., ANGELES J., “Conception isotropique d’une morphologie parallèle :
application à l’usinage”, 3rd International Conference On Integrated Design and Manufacturing
in Mechanical Engineering, Mai 2000, Montréal.
- WENGER Ph., GOSSELIN C., MAILLE B., « A comparative study of serial and parallel
mechanism topologies for machine tool », Proc. Int. Workshop on Parallel Kinematic Machines,
Milan, pp 23-35, décembre 1999.
10
Philippe Wenger
Publication list, July 2014
- GOSSELIN C., WENGER Ph., PAGES L., « Optimization of statically balanced parallel
machines », Proc. The Int. Workshop on Parallel Kinematic Machines, Milan, pp 23-35,
décembre 1999.
- CHABLAT, D., WENGER, Ph., “ Regions of feasible point-to-point trajectories in the cartesian
space of fully-parallel manipulators ”, Proc. DETC99, 1999 ASME Design Engineering
Conferences, septembre 1999, Las Vegas, USA.
- CHABLAT, D., WENGER, Ph., “ On the characterization of the regions of feasible trajectories in
the workspace of parallel manipulators ”, Proc. IFToMM Tenth World Congress On The Theory
Of Machines And Mechanisms, 10-15 juin 1999, Oulu, Finlande.
- WENGER Ph., CHABLAT D., “ Workspace and Assembly modes in Fully-Parallel Manipulators :
A Descriptive Study ”, Advances in Robot Kinematics and Computational Geometry, Kluwer
Academic Publishers, pp. 117-126, 1998.
- CHABLAT, D., WENGER, Ph., “ Moveability and Collision Analysis for Fully-Parallel
Manipulators ”, 12th CISM-IFTOMM Symposium, RoManSy, Juillet 1998.
- CHABLAT D., WENGER Ph., Angeles J., “ The Kinematic Design of a 3-DOF Hybrid
Manipulator ”, 2nd Int. Conference On Integrated Design and Manufacturing in Mechanical
Engineering, Mai 1998.
- CHABLAT D. , WENGER Ph., Angeles J., “ The Isoconditioning Loci of A Class of Closed-Chain
Manipulators ”, IEEE International Conference on Robotics and Automation, pp. 1970-1976,
Mai 1998.
- CHABLAT D., WENGER Ph., “ Working Modes and Aspects in Fully-Parallel Manipulator ”,
Proceeding IEEE International Conference on Robotics and Automation, pp. 1964-1969, Mai
1998.
- WENGER Ph. et CHABLAT D. : "Definition sets for the direct kinematics of parallel
manipulators", Int. Conf. on Advanced Robotics (ICAR'97), avril 1997, pp. 859-864.
- WENGER Ph. : "Design of cuspidal and non-cuspidal manipulators", I.E.E.E Int. Conf. on Rob.
and Aut., avril 1997, Albuquerque, USA. pp 2172-2177.
- WENGER Ph. et CHABLAT D. : "Uniqueness domains in the workspace of parallel manipulators",
I.F.A.C-Symposium on Robot Control (SYROCO'97), 3-5 septembre 1997, Nantes, pp. 431436.
- WENGER Ph. et EL OMRI J. : "On manipulator singularities and their role in the change of
posture", Forum CSME'96, Symposium Theory of Machines and Mechanisms, pp. 37-44, 7-9
mai 1996, Hamilton, Ontario, Canada.
- H. THOMAs et Ph. WENGER : "Optimisation des mouvements d'une flotte de charioits mobiles
en milieu industriel", Forum CSME'96 Hamilton, Avances in Transportation Systems, pp. 204210 , 7-9 mai 1996, Hamilton, Ontario, Canada.
- EL OMRI J. et WENGER Ph. ; "Kinematic analysis of cuspidal positioning manipulators in the
presence of obstacles", Proc. WAC-ISRAM'96, vol 3, TSI Press, Mai 1996, pp 259-264,
Montpellier, France.
- WENGER Ph : “Design of robotic sites : synthesis ans applications", actes du congrès
IDMME'96, Nantes, France, avril 1996, pp 767-773.
- WENGER Ph. et EL OMRI J. : "Changing Posture for Cuspidal Robot Manipulators", I.E.E.E Int.
Conf. on Rob. and Aut., pp 3173-3178, Mai 1996, USA.
- WENGER Ph. et EL OMRI J. : "Singularity Analysis and Categorization of Generic 3R
Manipulators", Proc. ARK’96, Advances in Robot Kinematics and Comp. Geometry, Kluwer
Academic Publishers, pp 109-118, Juin 1996, Slovenie.
- EL OMRI J. et WENGER Ph : “How to recognize simply a nonsingular posture changing 3-DOF
manipulator“, Int. Conf. on Advanced Robotics (ICAR'95), 20-22 sept. 1995.
- CHEDMAIL P. et WENGER Ph. : "Optimal design of an airplane robot washer", Congrès Int. de
Génie Industriel de Montréal, pp. 367-376, oct. 1995.
- H. THOMAs et Ph. WENGER : “On planning velocities and trajectories for multiple mobile
robots”. ANS 6th Topical meeting on Robotics and Remote Systems, 5 février 1995, Monterey,
Californie.
11
Philippe Wenger
Publication list, July 2014
- WENGER Ph et EL OMRI J. : “On the kinematics of nonsingular and singular posture changing
manipulators”, Proc. ARK’94, Advances in Rob. Kinematics and Comp. Geometry, Kluwer
Academic Publishers, pp 29-38, juil. 1994, Slovenie.
- WENGER Ph et CHEDMAIL P. : “Computer integrated design of robotic workcells”, Proc.
ISRAM’94, A.S.M.E Press, 14-18 Aout 1994, Maui, USA.
- WENGER Ph. : "Design of airliners cleaning manipulators", European SILMA Users Group,
Paris, 16 Février 1994, pp 56-60.
- WENGER Ph, CHEDMAIL P et REYNIER F : “A global analysis of following trajectories by
redundant manipulators in the presence of obstacles”, I.E.E.E. Int. Conf. on Rob. and Aut., 2-7
mai 1993, Atlanta, U.S.A.
- WENGER Ph. : "A Classification of Manipulator Geometries Based on Singularity Avoidance",
Int. Conf. on Advanced Robotics (ICAR’93), Novembre 1993.
- WENGER Ph et EL OMRI J. : “Modeling Kinematic Properties of Type-2 Regional Manipulators
Using Octrees”, I.E.E.E. Int. Conf. on Systems, Man and Cybernetics, octobre 1993.
- CHEDMAIL P. et WENGER Ph. : "On the design of robotic workcells", COMES'93 Workshop on
Mechanism Design and Analysis, Clermont-Ferrant, 17-18 Mai 1993, pp 61-65.
- WENGER Ph et THOMAS H. : “Gestion de lois horaires d’une flotte de chariots autonomes”,
European Conferences JETPOSTE’93, Juin 1993.
- REYNIER F., CHEDMAIL P., WENGER Ph. : "Automatic positioning of robots, for following
continuous trajectories among mobile obstacles", Proc. ISIR'92, Barcelone, Espagne, Octobre
1992, pp. 737-743.
- WENGER Ph. : "New kinematic results for manipulators with general geometry", Int. Conf. on
CAD/CAM Robotics and Factories of the future, Cars&Fofs'92, aout 1992, Metz, France.
- WENGER Ph. : "A new general formalism for the kinematic analysis of all nonredundant
manipulators", I.E.E.E. Int. Conf. on Rob. and Aut., pp 442-447, mai 1992, Nice, France.
- WENGER Ph. : "Analyse cinématique des robots de morphologie générale : généralisation des
aspects". Proc. Forum C.S.M.E'92 , Montréal, Canada, 1-4 Juin, pp. 472-477.
- REYNIER F, CHEDMAIL P, WENGER Ph. : "Automatic positioning of robots, continuous
trajectories feasibility among obstacles", I.E.E.E. Int. Conf. on Syst., Man. and Cybern., Oct. 92.
- WENGER Ph. : "On the kinematics of manipulators with general geometry : application to the
feasibility analysis of continuous trajectories". Proc. ISRAM '92, A.S.M.E Press, Santa Fe,
USA, 11-13 Novembre 1992, pp. 15-20
- CHEDMAIL P., REYNIER F., WENGER Ph. : "Optimal positioning of robots in time-varying
environments", actes du 4ème Int. Meeting on Robotics and Remote Systems, American
Nuclear Society, pp 289-298, Mars 1991, Albuquerque, USA.
- REYNIER F., CHEDMAIL P., WENGER Ph. : "Ability of a robot to follow a continuous trajectory
in a cluttered environment". ABCM Mechanical Engineering Conference, pp 493-496, SaoPaulo, Brasil, 11-13 déc. 1991.
- WENGER Ph., CHEDMAIL P., "Géométrie de l'espace de travail d'un manipulateur et conception
de sites robotisés", Actes des 9ème Conf. Int. sur l'Infographie et les technologies assistées par
ordinateur, 12-16 février 1990, Paris.
- CHEDMAIL P., WENGER Ph., "Design and positioning of a robot in an environment with
obstacles using optimal search", I.E.E.E. Int. Conf. on Rob. and Aut., May 14-19 1989,
Scottdale, Arizona, U.S.A.
- GARCIA G., WENGER Ph., CHEDMAIL P., “Computing moveability areas of a robot among
obstacles using octrees”, Int. Conf. on Advanced Robotics (ICAR’89), p : p : 385-396, Juin
1989, Columbus, Ohio, USA.
- CHEDMAIL P., WENGER Ph., "Ability of a robot to move between two points within cartesian
free workspace with an encumbered environment", I.F.A.C SYROCO'88 p : 73.1-73.6,
Karlsruhe, F.R.G, 1988.
- WENGER Ph., CHEDMAIL P., "Ability of a robot to travel through its workspace with an
encumbered environment : five characterizations", Proc. ISRAM'88, A.S.M.E Press,
Albuquerque, New Mexico, 16-17 Nov 1988, pp 1011-1018.
• Peer-reviewed papers in national conferences (15) :
12
Philippe Wenger
Publication list, July 2014
- G. Jacquenot, F. Bennis, J.J. Maisonneuve et WENGER Ph : Paramétrage d’une méthode
hybride pour la résolution des problèmes de placement, In ROADEF, février 2010.
- G. Jacquenot, F. Bennis, J.J. Maisonneuve et WENGER Ph : Méthode générique pour la
résolution des problèmes de placement bidimensionnel. 11ème Colloque National AIP
PRIMECA, La Plagne, France, 22-24 avril, 2009.
- Binaud, N., Caro, S. and Wenger, P., “Analyse de Sensibilité de Manipulateurs Parallèles
Planaires de Type 3-RRR”, 11ème Colloque National AIP PRIMECA, 2009.
- G. Jacquenot, F. Bennis, J.J. Maisonneuve et WENGER Ph : Optimisation de placement dans
les problèmes de conception. In Congrès Français de Mécanique 2009.
- G. Jacquenot, F. Bennis, J.J. Maisonneuve et WENGER Ph : Présentation d’une méthode de
résolution pour les problèmes de placement 2D et 3D. In ROADEF, février 2009.
- A. Pashkevich, D. Chablat et WENGER Ph : « Analyse de la rigidité des machines outils 3 axes
d'architecture parallèle hyperstatique ». 5eme Assises Machines et Usinage à grande vitesse,
Juin, 2008, Nantes.
- WENGER Ph : “Classification des robots 3R et proposition de nouvelles architectures de
porteurs”, Conférence pleinière, Journées Nationales de la Robotique, octobre 2007, Strasbourg.
- D. Chablat, WENGER Ph et F. Majou. « La conception d'une machine outil parallèle à trois
degrés de liberté : l'Orthoglide », Journées Nationales de la Recherche en Robotique, Octobre
2003, Clermont-Ferrand, France.
- M. Baili, WENGER, Ph et D. Chablat : « Classification d'une famille de manipulateurs 3R ».
Avril 2003, 9ème colloque AIP PRIMECA, Pages:151-159
- F. Bennis, WENGER, Ph et S. Caro : « Etat de l'art de la conception robuste de mécanismes ».
Janvier, 2002, ENS CACHAN, Journée AIP-PRIMECA "méthodes non déterministes en
conception intégrée".
- WENGER Ph, D. Chablat et F. Majou : « L’ Orthoglide, une machine-outil rapide d’architecture
parallèle isotrope » Assises machines et usinage grande vitesse, Lilles, janvier, 2002.
- CHABLAT, D., WENGER, Ph., “ Parcourabilité pour les manipulateurs parallèles”, Actes du 6ème
colloque national PRIMECA'99 sur la conception intégrée.
- CHEDMAIL P. et WENGER Ph. : "Conception de sites robotisés et analyse des performances des
robots", Colloque PRIMECA, Les Deux Alpes, 2-4 avril 1992.
- CHEDMAIL P., WENGER Ph., "Positionnement de robot dans un environnement avec obstacles
par recherche optimale", Congrès STRUCOME, 1988, Paris.
- CHEDMAIL P., WENGER Ph, "Domaine atteignable par un robot : généralisation de la notion
d'aspects à un environnement avec obstacles. Application aux robots articulés plans", Proc.
A.U.M symp.,1987, Nantes.
• Other onference papers (19) :
- WENGER Ph : “Comparaison des architectures sérielles et parallèles : aspects cinématiques”,
Séminaire Techno’Campus (AIRBUS),décembre 2008, Nantes.
- N. Andreff, C.B. Bouzgarrou, E. Dombre, D. Chablat, O. Company, J.C. Fauroux, G. Gogu, W.
Khalil, S. Krut, F. Marquet, P. Martinet, J.P. Merlet, F. Pierrot, Ph. Poignet, P. Ray, P. Renaud,
O.A. Vivas Alban et WENGER Ph. ROBEA MAX : bilan des travaux, Toulouse, Janvier 2004.
- WENGER Ph. "Some aspects of robotics research : special focus on parallel robots", conférence à
l’Institut Technologique de la Laguna, Mexique, janvier 2004.
- WENGER Ph. "Design of robots and robotic site", conférence à l’Université Autonome de
Coahula, Mexique, février 2004.
- WENGER Ph. "Cuspidal robots and triple roots", Summer School on Computer Tools for Real
Algebraic Geometry (RAAG’2003), Rennes, juillet 2003 (conference invitee).
- WENGER Ph. "Conception géométrique de mécanismes parallèles : application à l’Orthoglide",
Journées nationales de calcul formel, CIRM, Marseille, janvier 2003 (conférence invitée).
- WENGER Ph. "Le projet Orthoglide", Séminaire IRCCyN, Nantes, juin 2002.
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Philippe Wenger
Publication list, July 2014
- WENGER Ph. : "Why does Robotics need Algebraic Geometry ? ", Workshop on Computations
in Real Algebraic Geometry and Applications, 13-15 juin 2002, Santanders, Espagne
(conférence invitee).
- WENGER Ph. ""Singularities and Robotics", Workshop RAAG’01, Rennes, juin 2001
(conférence invitée).
- WENGER Ph. "Optimisation de mécanismes : le projet Orthoglide", Conférence à l’Université de
Liège, Liège, décembre 2001 (conférence invitée).
- WENGER Ph. "Le projet Orthoglide", Séminaire du LMS, Poitiers, octobre 2001 (conférence
invitée).
- WENGER Ph. "On cuspidal robots", Conférence à l’Université Laval, Québec, juillet 2001
(conférence invitée).
- WENGER Ph. : "Singularity Analysis and Classification of Generic 3R Regional Manipulators",
Conférence invitée au Mc Gill University Seminar, 10 mai 1996, Montréal, Canada.
- WENGER Ph. : "Faisabilité de trajectoires de process pour les robots redondants", Groupe de
travail Simulation de Process de la commission CAO-Robotique de l'AFRI, 14 octobre 1994,
Paris.
- THOMAS H., WENGER Ph., BENNIS F., HASCOËT J.Y. : “Supervision d'une flotte de chariots
mobiles en milieu industriel et optimisation des trajectoires”, GR Automatique Pôle SARTA,
Robotique, Compiègne, 9 et 10 novembre 1994.
- CHEDMAIL P., WENGER Ph., RIFFARD V. : "CAO et robotique : deux applications", GR
Automatique Pôle SARTA, Robotique, Paris, 7 et 8 avril 1994.
- CHEDMAIL P., WENGER Ph. : "CAO de sites robotisés", GR Automatique Pôle SARTA,
Robotique, Nantes, 8 avril 1993.
- WENGER Ph. : "Trajectoires continues pour les robots non redondants : la notion d'aspects en
question", Séminaire du LAN, 4 avril 1991, Nantes.
- WENGER Ph. : "Parcourabilité de l'espace de travail de robots manipulateurs", Séminaire du
LAAS, Janvier 1990, Toulouse.
• Contract reports (26) :
- WENGER Ph et al, contribution au rapport d’avancement n°2, projet ANR SIROPA, décembre
2008.
- WENGER Ph et al, “Algorithms for the kinematic analysis of the Verne machine”, contribution
au rapport NEXT, track 3, septembre 2008.
- WENGER Ph et al, contribution au rapport d’avancement du projet EMC2-MDO, juin 2008.
- WENGER Ph et al, contribution au rapport d’avancement n°1, projet ANR SIROPA, décembre
2007.
- WENGER Ph et al, “Approche multi-modèles pour l’analyse de robots parallèles plans”, rapport
de contrat du projet Atlanstic, novembre 2007.
- WENGER Ph et al, “Synergetic simulation: application to the Verne machine”, contribution au
rapport NEXT, track 3, septembre 2007.
- WENGER Ph et al, contribution au rapport d’avancement du projet EMC2-MDO, mai 2007.
- A. Pamanes et WENGER Ph.: “Synthèse et optimisation de trajectoires de robots parallèles
redondants”, Rapport final, projet LAFMAA, décembre 2006.
- WENGER Ph et al, “Workspace calculation of a parallel-kinematic machine-tool”, contribution
au rapport NEXT, track 3, octobre 2006.
- WENGER Ph et al, “Serial versus parallel kinematic architectures: state of the art”, contribution
au rapport NEXT, track 3, février 2006.
- A. Pamanes et WENGER Ph.: “Synthèse et optimisations de trajectoires de robots parallèles
redondants”, Rapport intermédiaire, projet LAFMAA, octobre 2005.
- WENGER Ph et al, “Robots cuspidaux et racines triples”, rapport final, action MathStic, janvier
2005.
- WENGER Ph., BAILI M., CHABLAT D. : " Etude d’un robot de morphologie cuspidale ", rapport
de contrat STAUBLI/ECN, février 2003.
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Philippe Wenger
Publication list, July 2014
- WENGER Ph., CHABLAT D. : "Etude de bras articulés d’architecture non standard :
développement d’inverseurs et optimisation des solutions", contrat Tecnomatix/IRCCyN,
janvier 2001.
- WENGER Ph., LEDAY F.: "Simulateur de planification de flottes de chariots mobiles", Contrat
ECN/CRITT, rapport final, mars 1997.
- WENGER Ph., LEDAY F., BOISLIVEAU R. : "Simulateur de planification de flottes de chariots
mobiles", Contrat ECN/CRITT, rapport intermédiaire, juin 1996.
- WENGER Ph., THOMAS H., BOILIVEAU R.: “Gestion de lois horaires d’une flotte de chariots
autonomes”, Rapport final du Contrat ECN/SRTP, Janv. 1994.
- CHEDMAIL P., WENGER Ph., A. Branger : “Spécification de la mécanique d’un robot de
nettoyage d’avions.”, Rapport final du Contrat ECN/CBC, Janvier 1994.
- WENGER Ph., FAIVRE J.M. : "Etude d'accessibilité et de morphologie de robot d'intervention
dans un bol de générateur de vapeur”, contrat ECN/EDF, juin 1994.
- THOMAS H. et WENGER Ph.: “Gestion de lois horaires d’une flotte de chariots autonomes”,
Rapport intermédiaire, Contrat ECN/SRTP, Sept. 1992.
- CHEDMAIL P., GEORGES O., WENGER Ph, REYNIER F. "Conception assistée par ordinateur de
cellule robotisée", rapport final, contrat CRITT/ENSM, Sept. 91.
- CHEDMAIL P., HASCOËT J-Y., PETIOT J.F., REYNIER F., WENGER Ph : "Minimisation des temps
de cycles", rapport final du contrat Renault-Automation/ENSM, mars 1990.
- CHEDMAIL P., DELIGNIERES S., WENGER Ph., "Choix d'architecture et de structure optimum de
robot", Rapport final, contrat MRES/ENSM, 1988.
- WENGER Ph., CHEDMAIL P., "Possibilité de parcours de l'espace accessible par un robot :
analyse de connexité des espaces de travail", Rapport n°1, contrat ENSM/Citroën-PSA, Nantes,
1988.
- WENGER Ph., CHEDMAIL P., "Analyse de connexité des aspects et de leurs images dans l'espace
cartésien", Rapport n°2, contrat ENSM/Citroën-PSA, Nantes, 1988.
- CHEDMAIL P., DELIGNIERES S., WENGER Ph., "Choix de morphologies de robots ", ENSM
Nantes, Rapport n°4, contrat ENSM/Citroën-PSA, Mai 1987.
• Internal reports (12) :
- D. Kanaan, WENGER Ph et D. Chablat, “Calcul de l’espace de travail de la machine VERNE”,
june 2006.
- M. Baili, WENGER Ph et D. Chablat : « Classification des robots 3R » IRCCyN, 2004.
- CHABLAT D., WENGER Ph. : "Domaines d'unicité des manipulateur parallèles : cas général",
rapport interne IRCYN/ECN n° 97.7, Septembre 1997.
- CHABLAT D., WENGER Ph. : "Domaines d'unicité pour les robots parallèles", rapport interne
LAN/ECN n° 96.13, Décembre 1996.
- CHABLAT D., WENGER Ph. : "Etat de l'art sur les mécanismes de structures parallèles", rapport
interne LAN/ECN n° 96.8, Nov. 1996.
- WENGER Ph., EL OMRI J. : "Postures and singularity in serial manipulators : a comprehensive
study", rapport interne LAN/ECN n° 95.2, Fev. 1995.
- EL OMRI J., WENGER Ph.: "Kinematic analysis of a commercial non-singular posture changing
manipulator", rapport interne LAN/ECN n° 94.12, Fevrier 1995.
- WENGER Ph. : "Nouveaux résultats sur la cinématique des robots : généralisation des aspects",
Rapport Interne LAN-ECN n° 91.21, Nantes, Septembre 1991.
- WENGER Ph. : "Trajectoires continues pour les robots non redondants : la notion d'aspects en
question", Rapport Interne LAN-ECN n° 91.7, Nantes, Avril 1991.
- WENGER Ph.., CHEDMAIL P., "Parcourabilité de l'espace de travail : cinq caractérisations, cinq
conditions nécessaires et suffisantes", Rapport interne n°88.4, LAN, ENSM, Nantes, 1988.
- CHEDMAIL P., WENGER Ph., "Condition nécessaire et suffisante de parcourabilité de l'espace
opérationnel accessible par un robot dans un environ-nement avec obstacles", rapport interne n°
87-6, LAN, ENSM, Nantes, nov. 1987.
- CHEDMAIL P., WENGER P., "Parcourabilité de l'espace opérationnel accessible par un robot dans
un environnement avec obstacles", Rapport interne n° 87.9, LAN, ENSM, Nantes, nov. 1987.
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