K. Khorasani

About

K. Khorasani is a distinguished researcher whose career has been defined by pioneering contributions to the control of flexible robotic systems, adaptive control theory, and intelligent computing techniques for robotics. Best known for his landmark 1987 paper, "An Integral Manifold Approach to the Feedback Control of Flexible Joint Robots," which has garnered over 450 citations, Khorasani fundamentally advanced how engineers model and control robot manipulators with flexible joints by leveraging singular perturbation theory and integral manifold concepts. This foundational work spawned a rich body of follow-on research, including robust adaptive control strategies for flexible-joint manipulators that appear across multiple highly cited publications spanning from 1992 to 2005. His 2014 book on flexible-link robot manipulators further cemented his role as an authoritative voice in structural design and control techniques. Beyond classical control, Khorasani has embraced computational intelligence, applying neural networks to robot kinematics and flexible-joint control, and contributing to fault detection methodologies for mobile robots. With a publication record spanning nearly three decades and hundreds of citations, his work remains essential reading for researchers and students working at the intersection of robotics, control systems, and intelligent automation.

Research Focus

Key Achievements

Top Papers

1. 1
   An integral manifold approach to the feedback control of flexible joint robots

   450 citations · 1987
2. 2
   Adaptive control of flexible joint robots

   119 citations · 2002
3. 3
   Adaptive control of flexible-joint robots

   98 citations · 1992
4. 4
   Invariant manifolds and their application to robot manipulators with flexible joints

   92 citations · 2005
5. 5
   Flexible-link Robot Manipulators: Control Techniques and Structural Design

   52 citations · 2014
6. 6
   Neural network architectures for the forward kinematics problem in robotics

   41 citations · 1990
7. 7
   Control of a flexible-joint robot using neural networks

   37 citations · 1997
8. 8
   Robust adaptive controller design and stability analysis for flexible-joint manipulators

   37 citations · 1993
9. 9
   Computationally intelligent strategies for robust fault detection, isolation, and identification of mobile robots

   36 citations · 2015
10. 10
    Adaptive friction compensation based on the Lyapunov scheme

    33 citations · 2002

Key Collaborators

Contact & Links