Papers
23
Total Citations
410
H-Index
9
About
A. Nikoobin is a prominent researcher in robotics and optimal control, whose work has significantly advanced the fields of robot manipulator dynamics, trajectory planning, and control systems. Best known for developing a Lyapunov-based nonlinear disturbance observer for serial n-link robot manipulators — his most influential contribution with over 130 citations — Nikoobin has demonstrated exceptional expertise in designing robust, mathematically rigorous solutions for complex robotic systems. His research portfolio reveals a consistent focus on optimal control theory applied to robotic challenges, including flexible and mobile manipulators, load-carrying capacity optimization, and balancing techniques. Pioneering the concept of "optimal balancing," he introduced approaches that simultaneously optimize trajectory and counterweight placement, reducing actuator torques without sacrificing motion efficiency. His application of Pontryagin's Minimum Principle and indirect optimal control methods to elastic and multi-link manipulators has provided the robotics community with powerful tools for real-world path planning problems. Nikoobin has also made notable contributions to solving optimal control problems with state variable inequality constraints, offering practical numerical methods that eliminate the need for close initial guesses. With cumulative citations exceeding 340 across his key works, his research continues to serve as foundational reference material for students and engineers advancing autonomous robotic systems.
Research Focus
Key Achievements
Top Papers
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- 6Optimal balancing of robot manipulators in point-to-point motion18 citations · 2010
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- 8Optimal spring balancing of robot manipulators in point-to-point motion10 citations · 2012
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