H. K. Kesavan

Papers

Total Citations

H-Index

About

H. K. Kesavan is a distinguished researcher whose work lies at the intersection of graph theory, robotics, and computational mechanics. His primary contributions focus on developing graph-theoretic models for simulating robot manipulators, offering a unified framework that elegantly encompasses the Denavit-Hartenberg representation of linkages. By modeling prismatic and revolute joints within a graph-theoretic system theory, Kesavan has provided a powerful formalism for analyzing complex kinematic chains. His research demonstrates how mixed differential and algebraic equations (DAEs) arising in robot simulation can be solved efficiently using implicit integration and LU factorization, reducing computational complexity to the number of degrees of freedom. While his most-cited paper, "Graph-theoretic models for simulating robot manipulators" (2005), has garnered 12 citations, and his follow-up work on computational schemes has received 7 citations, the true impact of Kesavan’s research lies in its methodological elegance and potential for advancing robotic simulation. His graph-theoretic approach offers a systematic, mathematically rigorous alternative to traditional modeling techniques, making his work a valuable resource for researchers exploring efficient simulation strategies in robotics and multibody dynamics.