C. R. Mirman
Papers
2
Total Citations
23
H-Index
2
About
C. R. Mirman’s research centers on the kinematic calibration and accuracy enhancement of industrial robotic manipulators. His major contributions lie in developing mathematical frameworks to identify and compensate for position-independent geometric errors—such as link lengths and twists—that arise from manufacturing tolerances. In his most cited work, “Identification of Position-Independent Robot Parameter Errors Using Special Jacobian Matrices” (1993, 15 citations), Mirman introduced a method using specialized Jacobian matrices to isolate these parameter errors, enabling more precise robot control without altering the closed-form kinematic solution algorithms commonly used in production manipulators. This work was complemented by his 1992 study on “Compensation of Robot Joint Variables Using Special Jacobian Matrices” (8 citations), which extended the approach to actively adjust joint variables to improve end-effector positioning accuracy. Together, these contributions provide a practical, computationally efficient pathway for enhancing the real-world precision of industrial robots, directly addressing a critical challenge in automated manufacturing. Mirman’s work remains a foundational reference for researchers and engineers working on robot calibration and error compensation.
Research Focus
Key Achievements
Top Papers
- 1
- 2Compensation of Robot joint variables using special Jacobian matrices8 citations · 1992