P. Pledel

Centre National de la Recherche Scientifique, Nantes Université

Papers

Total Citations

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About

P. Pledel’s research focuses on the motion planning and control of industrial manipulators, with a particular emphasis on optimizing trajectory generation under real-world constraints. Their major contributions lie in addressing the limitations of conventional kinematic approximations in robot motion planning. In their most cited work, "Actuator constraints in point to point motion planning of manipulators" (2002, 9 citations), Pledel demonstrated that standard bounds on speed and acceleration are often overly conservative, preventing robots from achieving their full performance potential. By incorporating actual actuator characteristics, they proposed methods to significantly increase operational efficiency. A related study, "A motion generation method of industrial robots in cartesian space" (2002, 3 citations), further advanced this line of work by developing C² polynomial trajectories for both point-to-point and via-point motions, ensuring smooth Cartesian paths while respecting kinematic limits. Though modest in citation count, Pledel’s work is notable for its practical, application-driven approach—bridging theoretical motion planning with the physical realities of robot hardware. Their research remains relevant for engineers seeking to push the boundaries of industrial robot speed and precision without sacrificing safety or reliability.