D.B. Cherchas
Papers
7
Total Citations
70
H-Index
5
About
D.B. Cherchas has made foundational contributions to robotic manipulation, particularly in the areas of trajectory planning, adaptive control, and the dynamics of non-fixed base systems. His work spans welding robot programming, hydraulic manipulator control, and space-based robotics. Notably, his 1989 paper on simulated off-line programming of welding robots (18 citations) pioneered methods for calculating interference and generating collision-free trajectories, while his 1992 study on generalized predictive control of hydraulically actuated manipulators (17 citations) advanced adaptive control strategies for heavy-duty industrial robots. Cherchas also addressed the unique challenges of spacecraft-mounted manipulators in his 1999 paper (14 citations), deriving general three-dimensional equations of motion for non-fixed base systems. His research on iterative trajectory generation (1989, 7 citations) and discrete-time optimal adaptive control (1989, 4 citations) further solidified his reputation in robot motion planning and control. With a career focused on practical, industrially relevant problems—from welding cells to space robotics—Cherchas’s work has influenced both manufacturing automation and autonomous systems. His later exploration of Jacobian transpose control for multiagent manipulators (2002) reflects a forward-looking interest in distributed robotic architectures.
Research Focus
Key Achievements
Top Papers
- 1Simulated Off-Line Programming of Welding Robots18 citations · 1989
- 2
- 3Motion control of non-fixed base robotic manipulators14 citations · 1999
- 4
- 5
- 6A discrete‐time optimal adaptive control law for a robot arm4 citations · 1989
- 7