Mari Mar Duque

Papers

Total Citations

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About

Mari Mar Duque is a robotics researcher whose work centers on the mathematical foundations of kinematic modeling, particularly the comparative analysis of Denavit-Hartenberg (DH) conventions. Her most-cited paper, "Comparison between Standard and Modified Denavit-Hartenberg Methods in Robotics Modelling" (2016), systematically contrasts the standard and modified DH parameterizations, clarifying their structural similarities in link and joint numbering. This contribution has garnered 21 citations, serving as a practical reference for students and engineers navigating the nuances of robotic arm modeling. Duque’s research addresses a critical gap in robotics education and application, where subtle differences in parameterization can lead to significant errors in simulation and control. By demystifying these methods, she has helped standardize approaches in kinematics, enabling more accurate robot design and trajectory planning. Her work is particularly valued in academic settings, where it bridges theoretical frameworks and hands-on implementation. Duque’s focus on foundational modeling techniques underscores her commitment to improving the accessibility and reliability of robotics mathematics, making her a key resource for researchers developing autonomous systems and manipulators.