Morteza Ebrahimi

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About

Morteza Ebrahimi is a researcher whose work lies at the intersection of robotics, optimization, and geometric computation, with a particular focus on cable-driven parallel robots (CDPRs). His key contributions center on the analysis and characterization of the Wrench-Feasible Workspace (WFW)—the set of poses where a CDPR can maintain equilibrium under external forces. In his highly cited 2014 paper, Ebrahimi introduced a convex optimization framework to determine the maximal inscribed ellipse (in 2D) and maximal-volume ellipsoid (in 3D) within the WFW. This work provides a rigorous, computationally efficient method for identifying the largest safe and controllable region of operation for cable robots, which is critical for applications in manufacturing, rehabilitation, and large-scale manipulation. By transforming a complex geometric problem into a tractable optimization, his approach has become a foundational tool for workspace analysis in the field. With 8 citations to this landmark paper, Ebrahimi’s research continues to influence the design and control of cable-driven systems, offering a clear, principled path to maximizing their usable workspace.