Emil Madsen
Papers
7
Total Citations
167
H-Index
6
About
Emil Madsen is a robotics researcher whose work centers on the dynamics, modeling, and control of collaborative industrial robot manipulators. His research has made significant contributions to understanding and compensating for the complex nonlinear behaviors that arise in lightweight robots — particularly those using strain-wave (harmonic drive) transmissions, which introduce joint flexibility, friction, and time-varying stiffness that challenge precise motion control. Madsen's most influential work, "Comprehensive modeling and identification of nonlinear joint dynamics for collaborative industrial robot manipulators" (2020, 82 citations), established a rigorous framework for capturing these intricate joint behaviors. Complementing this, his development of a novel extension to the Generalized Maxwell-Slip friction model enabled adaptive feedforward control strategies that account for real-world variability in robot dynamics (44 citations). His research further addresses online estimation of time-varying joint stiffness and systematic dynamics calibration, culminating in the open-source tool AURT, which makes advanced robot calibration accessible to the broader community. More recently, Madsen has turned his attention to simplifying robot system integration in industrial settings. Collectively, his publications reflect a coherent research vision: making collaborative robots more accurate, adaptable, and easier to deploy in real-world manufacturing environments.
Research Focus
Key Achievements
Top Papers
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- 5Towards Easy Robot System Integration: Challenges and Future Directions8 citations · 2022
- 6AURT: A Tool for Dynamics Calibration of Robot Manipulators6 citations · 2022
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