Charles Dhanaraj

Papers

Total Citations

H-Index

About

Charles Dhanaraj is a pioneering researcher in robotic dynamics and real-time control systems. His key research areas center on efficient computational modeling of rigid-link robot dynamics, with a particular focus on incorporating friction into dynamic equations—a critical factor often overlooked in simplified models. Dhanaraj’s major contribution lies in developing a modified Newton-Euler algorithm that leverages symbolic programming to streamline the computation of inverse dynamics, enabling real-time control of robotic manipulators. His 1995 paper, "Efficient modeling of rigid link robot dynamic problems with friction," has garnered 13 citations, while his foundational 1993 work, "A Task Streamlining Approach for Parallel Processing of the Inverse Dynamic Equations With Friction," earned 4 citations. These works are notable for their practical impact on robust control, addressing the computational bottleneck of friction modeling. Dhanaraj’s task-streamlining approach for parallel processing represents an early and influential effort to harness parallel computing for robotics, paving the way for more responsive and accurate robotic systems in industrial and research applications.