Bryan Greenway

Papers

Total Citations

H-Index

About

Bryan Greenway’s research career has been defined by a deep commitment to advancing the precision and control of robotic manipulators, with a particular focus on hydraulic systems. His foundational work, "Robot Accuracy" (2000), which has garnered 63 citations, stands as a key reference in the field. In this paper, Greenway systematically dissects the mechanical and control-based sources of error that plague both static positioning and dynamic path following. He doesn’t just identify these problems; he provides a clear, actionable roadmap for minimizing them, ultimately urging manufacturers to prioritize accuracy in their designs. This work has helped shape how engineers approach robot calibration and performance. Earlier in his career, Greenway tackled the complex challenge of force control with his 1995 paper on a hybrid position/force controller for a 6-DOF hydraulic manipulator. By integrating a force/torque sensor at the wrist of a Kraft telerobotic slave, he demonstrated a practical method for achieving nuanced, compliant interaction with the environment. While this specific work has a smaller citation count, its technical contribution to the niche but critical area of hydraulic robotics is notable, showcasing Greenway’s ability to solve real-world control problems.