Hamed Kharrati

About

Hamed Kharrati is a robotics and control systems researcher whose work focuses on adaptive and intelligent control for complex robotic manipulators. His primary research areas include nonlinear control, adaptive robust control, and optimization algorithms applied to robot dynamics. Kharrati’s most impactful contribution is an adaptive robust control scheme for robot manipulators with unknown backlash in gears (21 citations), which addresses a critical real-world nonlinearity in industrial robotics. He has also made significant advances in visual processing and classification for pick-and-place robots (20 citations), predictive control for non-minimum phase systems (15 citations), and model-following adaptive control for flexible-joint robots (14 citations). His work on tuning PID controllers using biogeography-based optimization (11 citations) demonstrates his innovative application of metaheuristic algorithms to control design. Kharrati’s research spans from free-floating manipulators with stochastic disturbances to gyroscope-free inertial navigation systems, showcasing his versatility. With over 100 total citations across his publications, his contributions are particularly valued for bridging theoretical control methods with practical robotic applications, making his work essential reading for researchers in adaptive and robust robot control.

Research Focus

Key Achievements

Top Papers

1. 1
   An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

   21 citations · 2018
2. 2
   Visual Processing and Classification of items on Moving Conveyor with Pick and Place Robot using PLC

   20 citations · 2017
3. 3
   A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator

   15 citations · 2012
4. 4
   Model following adaptive control for a robot with flexible joints

   14 citations · 2008
5. 5
   Designing PID controllers for a five-bar linkage robot manipulator using BBO algorithm

   11 citations · 2015
6. 6
   Adaptive control of free-floating manipulator in presence of stochastic input disturbances and unknown dynamical parameters

   7 citations · 2021
7. 7
   The Correcting Approach of Gyroscope-Free Inertial Navigation Based on the Applicable Topological Map

   6 citations · 2018
8. 8
   Performance tuning for robot manipulators using intelligent robust controller

   6 citations · 2011
9. 9
   Design of MIMO controller for a manipulator using Tabu Search algorithm

   6 citations · 2007
10. 10
    A modified fruit fly optimization algorithm and its application to control of robot manipulators

    4 citations · 2017

Key Collaborators

Contact & Links