Richard
Bearee
Profile picture for user Bearee
Campus
Lille
Statut
Professeur(e)
Téléphone
+33320622948
Mail : Richard.BEAREE @ ENSAM.EU
Biographie

Richard Béarée received his M. Eng. degree in mechanical engineering from Lille University in 2001 and the M.S. degree in automatic control in 2002. He obtained a Ph.D. degree in automatic control from the French engineering school ENSAM in 2005, where he currently holds the position of professor in robotics at the LISPEN Laboratory.

His current research interests include robot localization, computer vision, trajectory planning, trajectory generation and vibration control with applications to industrial robotics systems and Human-Robot Interaction.

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Service to the community 

  • Associate Editor - Elsevier Journal of Control Engineering Practice - 2018-2021
  • Associate Editor - ASME Journal of Dynamic Systems, Measurement, and Control - 2018-2022
  • Special session organization - IEEE IECON 2018 - Collaborative Robots in Smart Manufacturing
  • Scientific commitee - JCM18, JCM19, GOL18, MUGV (since 2010)

 

Enseignements

Publications

Selingue M, Olabi A, Thiery S, Bearee R.
BibTex
Hybrid Calibration of Industrial Robot Considering Payload Variation.
Absolute accuracy of industrial robot is required for most of industrial applications. However, positioning errors of several millimeters are induced by many factors. Hybrid calibration, combining analytical model and learning-based regression, can compensate for most of the positioning error, inclu…
Journal of Intelligent & Robotic Systems. 2023;109(3)
DOI : 10.1007/s10846-023-01980-6
Barcellini F, Béarée R, Benchekroun T, Bounouar M, Buchmann W, Dubey G et al.
BibTex
Promises of industry 4.0 under the magnifying glass of interdisciplinarity: revealing operators and managers work and challenging collaborative robot design.
The goal of this article is to propose a cross-perspective around Collaborative Robotics—seen as a remarkable example of technologies 4.0 in an industrial context—by calling on sociology, activity-centred ergonomics, engineering, and robotics expertises. The development of this cross-perspective is …
Cognition, Technology and Work. 2023;25(2-3):251–271.
DOI : 10.1007/s10111-023-00726-6
Safeea M, Bearee R, Neto P.
BibTex
An integrated framework for collaborative robot-assisted additive manufacturing.
Additive manufacturing (AM) is revolutionizing industry, allowing to prototype and fabricate custom-made parts with complex geometries rapidly and at an affordable cost. The use of robots to perform AM has great potentials due to its flexibility and ability to produce multi-directional fabrication p…
Journal of Manufacturing Processes. 2022;81:406-413.
DOI : 10.1016/j.jmapro.2022.06.067
Bounouar M, Béarée R, Siadat A, Benchekroun T.
BibTex
On the role of human operators in the design process of cobotic systems.
Industrial cobotics is presented as a way of business competitiveness by combining human skills and decision making with robotic advantages. The place and safety of humans in cobotic (collaborative robotic) systems are the subjects of much discussion. This article provides a qualitative overview of …
Cognition, Technology and Work. 2021;24(1):57-73.
DOI : 10.1007/s10111-021-00691-y
Safeea M, Richard B, Neto P.
BibTex
A Modified DLS Scheme With Controlled Cyclic Solution for Inverse Kinematics in Redundant Robots.
Redundancy in robotic manipulators has many advantages. It is successfully used to achieve better dexterity, and to avoid obstacles, singularities, or the kinematic limitations. However, redundancy makes the inverse kinematics (IK) problem harder to solve. The damped least squares (DLS) is a powerfu…
IEEE Transactions on Industrial Informatics. 2021;17(12):8014-8023.
DOI : 10.1109/tii.2021.3060019
Safeea M, Neto P, Béarée R.
BibTex
Task execution combined with in-contact obstacle navigation by exploiting torque feedback of sensitive robots.
Procedia Manufacturing. 2020;51:187-192.
DOI : 10.1016/j.promfg.2020.10.027
Safeea M, Neto P, Béarée R.
BibTex
Model-based hardware in the loop control of collaborative robots.
Procedia Manufacturing. 2020;51:133-139.
DOI : 10.1016/j.promfg.2020.10.020
Safeea M, Béarée R, Neto P.
BibTex
Collision Avoidance of Redundant Robotic Manipulators Using Newton’s Method.
This study investigates the application of Newton method to the problems of collision avoidance and path planning for robotic manipulators, especially robots with high Degrees of Freedom (DOF). The proposed algorithm applies to the potential fields method, where the Newton technique is used for perf…
Journal of Intelligent and Robotic Systems. 2020..
DOI : 10.1007/s10846-020-01159-3
Safeea M, Bearee R, Neto P.
BibTex
Recursive algorithm for calculating Christoffel symbols efficiently.
Christoffel symbols of the first kind are very important in robot dynamics. They are used for tuning various proposed robot controllers, for determining the bounds on Coriolis/Centrifugal matrix, for mathematical formulation of optimal trajectory calculation, among others. In the literature of robot…
Mechanism and Machine Theory. 2019;142:103589.
Safeea M, Neto P, Bearee R.
BibTex
On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case.
Human–robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and time-varying environment. This study introduces the subject of m…
Robotics and Autonomous Systems. 2019;119:278-288.
Safeea M, Neto P, Bearee R.
BibTex
Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols.
Christoffel symbols of the first kind are very important in robot dynamics. They are used for tuning various proposed robot controllers, for determining the bounds on Coriolis/Centrifugal matrix, for mathematical formulation of optimal trajectory calculation, among others. In the literature of robot…
Mechanism and Machine Theory. 2019;142:103589.
DOI : 10.1016/j.mechmachtheory.2019.103589
Safeea M, Neto P, Bearee R.
BibTex
Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics.
The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the latter, the human robot minimum distance is the main input for collision avoidan…
IEEE Access. 2018;7:5368-5373.
DOI : 10.1109/ACCESS.2018.2889311
Safeea M, Neto P, Busson D, Béarée R.
BibTex
A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators.
IEEE Robotics and Automation Letters. 2018;3(2):888-894.
DOI : 10.1109/LRA.2018.2792541
Besset P, Béarée R.
BibTex
FIR filter-based online jerk-constrained trajectory generation.
In the context of human-robot manipulation interaction for service or industrial robotics, the robot controller must be able to quickly react to unpredictable events in dynamic environments. In this paper, a FIR filter-based trajectory generation methodology is presented, combining the simplicity of…
Control Engineering Practice. 2017;66:169-180.
DOI : 10.1016/j.conengprac.2017.06.015
Béarée R.
BibTex
New Damped-Jerk trajectory for vibration reduction.
This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an…
Control Engineering Practice. 2014;28:112–120.
DOI : 10.1016/j.conengprac.2014.03.010
Béarée R, Olabi A.
BibTex
Dissociated jerk-limited trajectory applied to time-varying vibration reduction.
Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual vibration induced by a lightly damped stationary mode. However, for systems w…
Robotics and Computer-Integrated Manufacturing. 2013;29(2):444-453.
DOI : 10.1016/j.rcim.2012.09.014
Béarée R, Dieulot J, Rabate P.
BibTex
An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining.
A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considers different parts of the contour with respect to cu…
International Journal of Advanced Manufacturing Technology. 2010;53(5-8):463-471.
DOI : 10.1007/s00170-010-2875-0
Olabi A, Béarée R, Gibaru O, Damak M.
BibTex
Feedrate planning for machining with industrial six-axis robots.
Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by ma…
Control Engineering Practice. 2010;18(5):471-482.
DOI : 10.1016/j.conengprac.2010.01.004
Béarée R, Barre P.
BibTex
Adaptation de la loi de mouvement aux systemes de positionnement à dynamique élevée.
L’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer des déformations et des vibrations dégradant le suivi de profil ainsi que le pos…
Mechanics & Industry. 2007;8:407–417.
Barre P, Dieulot J, Béarée R, Bouzidi A.
BibTex
A heuristic path-planning method for enhancing machine-tool contour-following.
Journal of Systems Science and Systems Engineering. 2005;14(1):85-96.
DOI : 10.1007/s11518-006-0183-x
Béarée R, Barre P, Bloch S.
BibTex
Influence of High-Speed Machine Tool Control Parameters on the Contouring Accuracy. Application to Linear and Circular Interpolation.
Journal of Intelligent and Robotic Systems. 2004;40(3):321-342.
DOI : 10.1023/B:JINT.0000039013.70093.29