Papers
13
Total Citations
145
H-Index
7
About
G. Duelen is a pioneering figure in industrial robotics, whose work has fundamentally shaped how robots are programmed, calibrated, and controlled for manufacturing. His research centers on three key pillars: robot calibration, force control, and off-line programming. Duelen’s seminal 1991 paper, "Robot calibration—Method and results," with 55 citations, established foundational techniques for improving robot accuracy by identifying and correcting geometric errors in kinematics—a critical step for precision manufacturing. He also made significant contributions to force-controlled machining, notably in robotic deburring, where his 2003 paper (23 citations) developed and experimentally validated a hybrid position/force controller for stable metal removal, addressing the challenging contact problem between robot and workpiece. Duelen advanced off-line programming and simulation, as seen in his 1989 work on coating robots (11 citations) and his 1986 concept for coordinated path control of two robots (8 citations), which optimized trajectory generation for cooperative tasks. His influence extends to space robotics, with requirements for handling on space platforms. With a career spanning the 1980s and 1990s, Duelen’s integrated approach—combining calibration, force control, and simulation—laid the groundwork for modern flexible manufacturing systems.
Research Focus
Key Achievements
Top Papers
- 1Robot calibration—Method and results55 citations · 1991
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- 4An Advanced Robot Control System for Manufacturing Processes10 citations · 1991
- 5Methods of identification of geometrical data in robot kinematics9 citations · 1988
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- 7Use of CAD-data for the off-line programming of industrial robots7 citations · 1987
- 8Force control of industrial robots: The contact problem7 citations · 1989
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