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About

Murat Tandirci has made foundational contributions to the kinematics and control of robotic manipulators, with a particular focus on solving the long-standing problem of dimensional inhomogeneity in Jacobian matrices. His most influential work, "The Characteristic Point and the Characteristic Length of Robotic Manipulators" (1992, 81 citations), introduced the concept of a characteristic point on the end-effector where the condition number of the Jacobian is minimized—a pivotal idea for optimizing manipulator design and performance. This work directly addressed the challenge of comparing rotational and translational velocities, a key issue in robot kinematics. Tandirci further advanced practical robotics with his real-time collision avoidance approach (2002), which uses modified impedance control to protect all links of a manipulator in unstructured environments, moving beyond traditional offline planning. His systematic analyses of rotation representations in computational robot kinematics (1994, 2003) have also helped clarify numerical conditioning and convergence in forward and inverse kinematics for six-axis industrial robots. Through these contributions, Tandirci has shaped both the theoretical foundations and real-world applications of robotic manipulation.