diff --git a/.gitmodules b/.gitmodules
index 685a322..4aa5ef9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -157,3 +157,6 @@
 [submodule "dcm-simscape"]
 	path = dcm-simscape
 	url = https://gitlab.esrf.fr/dehaeze/dcm-simscape
+[submodule "dehaeze26_decoupling_parallel_manipulators"]
+	path = dehaeze26_decoupling_parallel_manipulators
+	url = https://git.tdehaeze.xyz/tdehaeze/dehaeze26_decoupling_parallel_manipulators
diff --git a/dehaeze26_decoupling_parallel_manipulators b/dehaeze26_decoupling_parallel_manipulators
new file mode 160000
index 0000000..267080d
--- /dev/null
+++ b/dehaeze26_decoupling_parallel_manipulators
@@ -0,0 +1 @@
+Subproject commit 267080d14fe7bb919630e91eb4ddff0d9561309c