Keith G. Mattson
Purdue University West Lafayette, Ford Motor Company (United States)
Papers
5
Total Citations
24
H-Index
3
About
Keith G. Mattson is a robotics researcher whose work focuses on the kinematics of cooperative robotic systems, particularly the complex challenges that arise when multiple robots work in tandem to manipulate closed-loop linkage payloads. His research addresses fundamental problems in robot kinematics — forward position analysis, velocity analysis, and inverse kinematics — within the context of dual-robot manipulation systems. Mattson's most significant contributions center on developing analytical and closed-form solutions to kinematic problems involving two cooperating robots handling planar and spatial linkage payloads. His 1996 paper on velocity problems of two 3-R robots manipulating a four-bar linkage payload remains his most cited work, accumulating 13 citations, while his complementary forward position analyses established geometric constraint frameworks that provide meaningful physical insight into robot-payload interactions. Notably, his work extended from simpler planar 3-R robot configurations to more industrially relevant PUMA-type robots and even to spatial Bennett linkage payloads, demonstrating a progressive broadening of scope. His doctoral dissertation served as the comprehensive foundation for this research program, synthesizing solutions across multiple kinematic problem classes. While his citation counts are modest, his work addresses a specialized and technically demanding niche within robotics research that remains relevant to collaborative automation and multi-robot coordination studies.
Research Focus
Key Achievements
Top Papers
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