Papers
7
Total Citations
151
H-Index
5
About
F. Ranjbaran is a leading figure in the kinematic analysis and synthesis of robotic manipulators, with foundational contributions to how we understand and optimize robot performance. His most influential work, "The Characteristic Point and the Characteristic Length of Robotic Manipulators" (1992, 81 citations), introduced the concept of a characteristic point on the end-effector to minimize the Jacobian matrix's condition number, a critical step in addressing dimensional inhomogeneities in robot design. He further advanced the field by defining manipulator layout and layout conditioning in "On the kinematic conditioning of robotic manipulators" (2002, 31 citations), providing a kinetostatic performance index for optimal geometric parameterization. Ranjbaran also pioneered the kinematic synthesis of serial manipulators with a prescribed Jacobian (2002, 14 citations), enabling precise design based on joint axis Plücker coordinates. Beyond theory, he applied his expertise to practical systems, including laser consolidation for the Advanced Robotic Mechatronics System (ARMS) project (2003, 11 citations) and robust contact force control for a 7-DOF redundant manipulator (2002, 5 citations). His work on two-robot-arm workcell material handling (1991, 7 citations) and contributions to the Canadian Space Agency's Automation and Robotics Testbed (2001) underscore his impact on both industrial and space robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2On the kinematic conditioning of robotic manipulators31 citations · 2002
- 3The kinematic synthesis of serial manipulators with a prescribed Jacobian14 citations · 2002
- 4
- 5A case study of two‐robot‐arm workcell material handling7 citations · 1991
- 6
- 7CSA Automation and Robotics Testbed - Current Capabilities2 citations · 2001