Papers
11
Total Citations
89
H-Index
5
About
Durgesh Haribhau Salunkhe is a leading researcher in the kinematics and control of robotic manipulators, with a particular focus on cuspidal robots—serial manipulators capable of changing inverse kinematic solutions without crossing singularities. His major contributions include establishing the necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal, and extending this analysis to 6R robots through computer algebra and real algebraic geometry. His work has provided essential guidelines for path planning and cuspidality decision-making, with his most cited paper, "Sensorless full body active compliance in a 6 DOF parallel manipulator" (2019), garnering 31 citations. Salunkhe has also advanced surgical robotics, contributing a geometric atlas of the middle ear and paranasal sinuses for robotic applications, and a literature review on endoscopic robotic systems in ear and sinus surgery. His research on trajectory planning issues in commercial cuspidal robots and force/position control of parallel manipulators further underscores his impact. With over 80 citations across his publications, Salunkhe’s work is pivotal for designing safer, more efficient robots in both industrial and medical contexts.
Research Focus
Key Achievements
Top Papers
- 1Sensorless full body active compliance in a 6 DOF parallel manipulator31 citations · 2019
- 2
- 3Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery9 citations · 2021
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- 6Geometry Based Analysis of 3R Serial Robots5 citations · 2022
- 7Trajectory planning issues in cuspidal commercial robots5 citations · 2023
- 8Design, trajectory generation and control of quadrotor research platform5 citations · 2016
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