S. Macfarlane

Hydrogenics (Canada), University of British Columbia

Papers

Total Citations

439

H-Index

About

S. Macfarlane is a leading researcher in industrial robotics, with a primary focus on trajectory planning and motion control for real-time applications. Their major contribution lies in developing innovative methods for generating jerk-bounded trajectories—smooth motion profiles that limit the rate of change of acceleration. This work is critical for industrial robots, as jerk limitation significantly improves path tracking accuracy, reduces mechanical wear, and enhances overall system reliability. Macfarlane’s most influential paper, "Jerk-bounded manipulator trajectory planning: design for real-time applications" (2003), has garnered over 400 citations, underscoring its foundational impact on the field. By employing concatenations of fifth-order polynomials, they created an online, computationally efficient approach that enables robots to execute complex tasks with unprecedented smoothness. This research bridges the gap between theoretical motion planning and practical industrial deployment, directly benefiting manufacturing, assembly, and automation sectors. Macfarlane’s work remains a cornerstone for engineers designing high-performance robotic systems, demonstrating how thoughtful trajectory design can extend hardware lifespan while boosting productivity. Their contributions continue to inspire advancements in real-time control and human-robot collaboration.