Mohammad Haghpanahi
Papers
4
Total Citations
70
H-Index
4
About
Mohammad Haghpanahi’s research focuses on the dynamics, control, and path planning of flexible and mobile manipulators, with a particular emphasis on systems undergoing large deformations. His major contributions lie in developing advanced computational models that combine finite element methods with optimal control theory to enhance the stability and load capacity of elastic robotic arms. Notably, his work on the “Maximum allowable load of very flexible manipulators using absolute nodal coordinate formulation” (34 citations) provides a rigorous framework for determining safe operational limits in highly compliant structures. In a key study on optimal trajectory planning for mobile flexible manipulators (6 citations), Haghpanahi introduced the use of the Zero Moment Point criterion as a stability metric—a novel approach that integrates mass moment of inertia considerations to maximize pose stability during motion. His modeling of large deformations in manipulators with flexible links and joints (4 citations) extends nonlinear dynamic analysis using Timoshenko beam theory, addressing complex real-world robotic applications. Through these efforts, Haghpanahi has advanced the safe and efficient design of next-generation flexible robotic systems.
Research Focus
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