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, Proceedings of the 11th IFToMM World Congress on the Theory of Machines and Mechanisms, Tianjin, China , pp. 1209-1213. Chablat, D., Wenger, P. and Merlet, J.-P. (2002). Workspace analysis of the Orthoglide using interval analysis, Advances in Robot Kinematics, Caldes de Malavalla, Spain , pp. 397-406. Clerentin, A., Delahoche, L., Brassart, E. and Izri, S. (2003). Imprecision and uncertainty quantification for the problem of mobile robot localization, Proceedings of the Performance Metrics for Intelligent Systems Workshop, Gaithersburg, MD, USA . Daney, D., Andreff, N