Papers
8
Total Citations
117
H-Index
5
About
Jaume Franch is a robotics and control systems researcher whose work sits at the intersection of nonlinear control theory and robotic mechanism design, with particular expertise in differential flatness, feedback linearization, and under-actuated robotic systems. His most influential contribution — a 2009 paper on differentially flat open-chain space robots with arbitrarily oriented joint axes, which has garnered 38 citations — demonstrates his ability to tackle the notoriously difficult challenge of controlling free-floating space robots subject to nonholonomic angular momentum constraints. By exploiting differential flatness, Franch developed elegant frameworks that dramatically simplify trajectory planning and control for systems that would otherwise resist conventional methods. His broader body of work reveals a sustained commitment to under-actuated planar manipulators, showing that robots driven by far fewer actuators than degrees of freedom can still achieve full controllability and feedback linearizability through careful inertia distribution and spring-based designs. His foundational 2002 work on linearization by prolongations of driftless systems reflects deep theoretical grounding in geometric control. Across more than a decade of research, Franch has made meaningful contributions that bridge abstract control theory with practical robotic design challenges, offering tools valuable to both space robotics engineers and control theorists alike.
Research Focus
Key Achievements
Top Papers
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- 5Linearization by prolongations of two-input driftless systems8 citations · 2002
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