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About

Farhad J. Pooran is a robotics researcher whose work has made significant contributions to the fields of robot kinematics, dynamics, and control — particularly in the design and analysis of closed kinematic chain mechanism (CKCM) robot manipulators. His most influential contributions emerged in the late 1980s, with his dynamic analysis of a 6-DOF CKCM robot end-effector for dual-arm telerobot systems accumulating 99 citations, and a companion kinematic analysis and workspace determination study earning 48 citations — establishing him as a key figure in parallel manipulator research during that era. Pooran's work spans both theoretical and applied dimensions of robotics. His early research addressed the challenge of robot manipulator compliance control, developing hybrid controllers to enable robots to adapt to external constraints during precision assembly tasks. He later extended this into adaptive joint-space control schemes designed for NASA hardware assembly applications, bridging fundamental robotics research with real-world space exploration needs. His trajectory control investigations further demonstrated the practical utility of CKCM architectures in demanding Cartesian-space tasks. Collectively, his body of work represents a sustained commitment to advancing high-precision robotic manipulation, making his research particularly valuable for students studying parallel robotics, teleoperation systems, and compliant robot control.