Clément Gosselin
Laval University
593 Papers
5.6K Citations
Clément Gosselin is an academic researcher from Laval University. The author has contributed to research in topics: Kinematics & Parallel manipulator. The author has an hindex of 77, co-authored 573 publications. Previous affiliations of Clément Gosselin include University of British Columbia & University of London.
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Papers
Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator
Erika Ottaviano,Clément Gosselin,Marco Ceccarelli +2 more
- 21 May 2001
TL;DR: It is shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the manipulator, and it is proved that this type of singularity can be avoided by a proper analysis of the problem.
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Optimal design of PZT actuators in active structural acoustic control of a cylindrical shell with a floor partition
TL;DR: In this article, the effect of PZT actuators is simulated using a bending model and an in-plane force model, respectively, and the characteristics of the optimal placements of both models are discussed and compared.
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A tension distribution algorithm for cable-driven parallel robots operating beyond their wrench-feasible workspace
Alexis Fortin Cote,Philippe Cardou,Clément Gosselin +2 more
- 01 Oct 2016
TL;DR: This paper presents an algorithm based on quadratic programming that is capable of handling cable tensions when the end-effector moves beyond its wrench-feasible workspace, a situation that can arise when the robot is used as a haptic interface.
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Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation
Jing Wang,Clément Gosselin +1 more
TL;DR: In this paper, the kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freedom parallel manipulators with prismatic or revolute actuators are discussed.
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Low-Impedance Physical Human-Robot Interaction Using an Active–Passive Dynamics Decoupling
Pascal Labrecque,Jacques-Michel Hache,Muhammad E. Abdallah,Clément Gosselin +3 more
- 18 Feb 2016
TL;DR: This letter revisits the concept of macro-mini manipulator to improve the interaction bandwidth, by introducing a novel low impedance mini mechanism specifically designed for physical human-robot cooperation.
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