Prasenjit Sarkar

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About

Prasenjit Sarkar is a robotics researcher whose work has focused on the motion planning and trajectory optimization of flexible manipulators — robotic systems where structural flexibility between actuators and end-effectors introduces significant positioning challenges due to residual vibration. His research addresses a critical limitation in robotic precision: how to efficiently move a manipulator along a specified path while minimizing the energy left in the system after motion completes. His most recognized contribution, "An Efficient Motion Planning of Flexible Manipulator along Specified Path" (2002), has accumulated 24 citations and presents an algorithmic approach to optimizing motion under fixed travel-time constraints, directly targeting residual vibration as the primary source of positioning error. Complementing this work, his study on sub-optimal trajectory planning explores rapid endpoint positioning strategies using residual energy optimization, offering computationally accessible solutions for real-world robotic applications. Sarkar's contributions sit at the intersection of control theory, structural dynamics, and robotics engineering. His focus on practical algorithmic solutions for flexible systems makes his work particularly relevant for researchers and students working on industrial robot arms, space manipulators, and precision automation systems where structural compliance cannot be ignored.