Dennis Stokes

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About

Dennis Stokes has made foundational contributions to the modeling and control of flexible robotic systems, with a career spanning from the mid-1990s into the 2000s. His primary research areas include flexible robot dynamics, system identification, and input shaping control. Stokes’s most influential work, “Flexible Robot Dynamics and Controls” (2002), has accumulated 63 citations, serving as a key reference for engineers seeking to understand the coupled dynamics of lightweight, flexible manipulators. In this work, he systematically derived equations of motion incorporating the first flexible mode shape and actuator dynamics, providing a rigorous framework for subsequent control design. His 1996 paper on optimized input shaping for a single flexible robot link, though less cited (2 citations), is notable for its pioneering approach: it developed an open-loop control strategy that suppressed residual vibration by shaping the input command, validated through hardware system identification and iterative experimental runs. Stokes also contributed a system identification paper (2002, 14 citations) that refined methods for extracting dynamic parameters from flexible structures. While his citation counts are modest, Stokes’s work represents careful, hands-on engineering that bridged theoretical dynamics with practical implementation, influencing later research in flexible robotics and vibration control.