Prof. Hélène Chanal

One of the core pillars of my research activities focuses on developing various models for studying the mechanical behavior of robots. My approach involves creating models based on mechanical principles, employing an adapted vector formalism to simulate both the quality and duration of task execution while minimizing the number of required parameters. Model identification plays a key role in this approach, ensuring optimal simulation accuracy. This identification is achieved under real-world task conditions. Consequently, the final task quality directly depends on the precision of the identify parameters. Reducing the number of parameters helps minimize the impact of identification errors on model accuracy and necessitates formulating hypotheses that align with the system's behavior and the task's nature.

I have developed expertise in modeling and geometric identification of both parallel and serial machines and robots, as well as in dynamic modeling and identification. To do this, I develop multi-body models, whether rigid or flexible, encompassing stiffness and damping. Currently, I work on cable-driven parallel robots and serial robots for additive manufacturing and over-constrained parallel robots for high stiffness demanding tasks such as machining.