R. Gunawardana
Papers
8
Total Citations
245
H-Index
6
About
R. Gunawardana is a leading figure in the modeling and control of robotic manipulators, with a particular focus on closed-chain (parallel) mechanisms. His foundational work, "Modeling and set point control of closed-chain mechanisms: theory and experiment" (2000, 164 citations), established a reduced model for these systems using independent generalized coordinates, highlighting key differences from open-chain robots. This contribution is critical for enabling precise control of parallel robots, which are essential in high-stakes applications like surgical robotics and manufacturing. Gunawardana also made significant strides in control theory, characterizing the class of robot manipulators with a bounded Jacobian of the gravity vector—a property vital for implementing stable control laws. His experimental validations, including PD control studies on the Rice Planar mechanism, demonstrate a rare commitment to bridging theory and practice. With over 245 total citations, his work has shaped the understanding of dynamics and control for both serial and parallel robots, offering a rigorous foundation for researchers and engineers advancing robotic systems.
Research Focus
Key Achievements
Top Papers
- 1Modeling and set point control of closed-chain mechanisms: theory and experiment164 citations · 2000
- 2PD Control of Closed-Chain Mechanical Systems: An Experimental Study22 citations · 1997
- 3The class of robot manipulators with bounded Jacobian of the gravity vector17 citations · 2002
- 4A validation study of PD control of a closed-chain mechanical system16 citations · 2002
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- 8Control of serial and parallel robots: Analysis and implementation2 citations · 1999