John E. McInroy

About

John E. McInroy is a robotics and control systems researcher whose work has significantly advanced the design, optimization, and fault tolerance of robotic manipulators, with particular emphasis on parallel robots and precision pointing systems. His research spans redundant robotic systems, Stewart platforms, and intelligent control strategies, addressing fundamental challenges in manipulability, trajectory tracking, and reliable sensor-actuator fusion. McInroy's most influential contributions include pioneering work on fault-tolerant mappings for prioritized manipulations, enabling robotic systems to maintain critical performance even under degraded conditions — a framework that has garnered over 55 citations. His exploration of redundancy to optimize Stewart platform manipulability and his development of fuzzy sliding mode controllers for parallel robots represent key advances in robust motion control. Notably, his early work on precision pointing for spaceborne optical interferometers and laser satellite communication systems demonstrated the real-world aerospace relevance of his research. Beyond kinematics and control, McInroy has contributed to mathematical estimation techniques, including methods for recovering symmetric positive-definite matrices from imperfect measurements — a tool broadly applicable in dynamics estimation and smart structures. His sustained output across experimental robotics, visual servoing, and reliable machine intelligence reflects a career dedicated to bridging theoretical rigor with practical robotic performance.

Research Focus

Key Achievements

Top Papers

1. 1
   Optimal, fault-tolerant mappings to achieve secondary goals without compromising primary performance

   55 citations · 2003
2. 2
   Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller

   51 citations · 2006
3. 3
   Using Redundancy to Optimize Manipulability of Stewart Platforms

   31 citations · 2008
4. 4
   A robotic approach to fault-tolerant, precision pointing

   25 citations · 1999
5. 5
   Estimation of symmetric positive-definite matrices from imperfect measurements

   21 citations · 2002
6. 6
   Acceleration and torque feedback for robotic control: Experimental results

   21 citations · 1990
7. 7
   Improved Image Based Visual Servoing with Parallel Robot

   14 citations · 2008
8. 8
   Techniques for selecting pose algorithms

   12 citations · 1994
9. 9
   Nonlinear Image Based Visual Servoing Using Parallel Robots

   9 citations · 2007
10. 10
    Reliable fusion of control and sensing in intelligent machines

    9 citations · 1991

Key Collaborators

Contact & Links