M. Sahraian

About

M. Sahraian’s research focuses on the control and dynamics of flexible robot arms, a challenging area in robotics due to the nonminimum phase nature of these systems. Their major contributions center on solving the inverse dynamics problem—determining the joint torques required for precise end-point tracking of flexible, multilink arms. By applying optimal control theory, Sahraian developed bounded, noncausal torque solutions that achieve excellent open-loop tracking, overcoming the limitations of traditional inversion methods. Their most cited work, “Inverse Dynamics of a Flexible Robot Arm by Optimal Control” (1993, 5 citations), along with related papers from 1991 and 2005, collectively advance robustness, convergence, and stability in flexible arm control. Though citation counts are modest, these studies provide foundational insights for researchers tackling the complexities of flexible robotics, offering a rigorous optimal-control-based framework that remains relevant for students and engineers exploring nonminimum phase system dynamics.

Research Focus

Key Achievements

Top Papers

1. 1
   Inverse Dynamics of a Flexible Robot Arm by Optimal Control

   5 citations · 1993
2. 2
   Flexible Robot Arm Control: an Optimal Solution for the Inverse Dynamics

   4 citations · 2005
3. 3
   Robustness, convergence and stability considerations for the optimal-control-based inverse dynamics solution for flexible robot arms

   2 citations · 1991

Key Collaborators

Contact & Links