Marc J. Richard
Papers
7
Total Citations
139
H-Index
4
About
Marc J. Richard is a leading figure in the kinematics and dynamics of robotic systems, with a particular focus on parallel mechanisms and closed-chain manipulators. His most influential contribution is the groundbreaking derivation of the analytic form of the six-dimensional singularity locus for the general Gough-Stewart platform (84 citations), a fundamental result that provides a complete mathematical description of singular configurations in this widely studied parallel robot. Richard also pioneered the general vector-network formulation for dynamic systems with kinematic constraints (27 citations), a powerful graph-theoretic approach that unifies the dynamic analysis of complex multibody systems. His work extends to the dynamic analysis of closed-chain manipulators and the development of stochastic adaptive controllers for underwater robots, demonstrating the breadth of his expertise. Richard’s research has had lasting impact on the design, control, and simulation of robotic systems, providing essential tools for understanding singularities and dynamics in parallel and closed-chain architectures. His contributions remain foundational for researchers working on the analysis and control of complex robotic mechanisms.
Research Focus
Key Achievements
Top Papers
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- 4Commande des robots manipulateurs par la programmation dynamique10 citations · 1993
- 5Dynamic analysis of robotic manipulators with closed kinematic chains3 citations · 2003
- 6Controlling robot manipulators by dynamic programming3 citations · 1995
- 7Simplified dynamics and stochastic controller for underwater robots2 citations · 2002