H. Salmasi

Papers

Total Citations

H-Index

About

H. Salmasi’s research focuses on the control and trajectory planning of robotic systems, with particular emphasis on flexible-joint manipulators and mobile robots. His major contributions include developing a novel manoeuvre control strategy for flexible-joint manipulators that accounts for joint dry friction, using the singular perturbation method and integral manifold concept—an approach that improved upon earlier controllers by incorporating actuator dynamics. He also designed and implemented the first experimental hydraulic simulator capable of replicating joint flexibility in a single-rigid-link robot, enabling adjustable parameters for future controller testing. This work, cited 7 times, provided a critical platform for advancing flexible-joint research. Additionally, Salmasi introduced a temporal planning algorithm for wheeled mobile robots with a 6-DOF arm, coordinating motion between the base and manipulator. His most-cited paper (9 citations) on friction-aware control remains a reference point in the field. Through these achievements, Salmasi has advanced both theoretical and experimental robotics, offering practical solutions for real-world robotic systems.