R. Khorrambakht

About

R. Khorrambakht is a robotics researcher whose work centers on the control, calibration, and kinematic analysis of cable-driven parallel robots (CDPRs) — a class of lightweight, low-cost manipulators with broad industrial potential. A defining thread throughout their research is the challenge of deploying CDPRs in real-world settings where precise assembly and installation are impractical, motivating the development of robust control strategies that tolerate mechanical uncertainties. Their most cited contribution, "Robust Cascade Control of a Deployable Cable-Driven Robot" (2019, 47 citations), introduced a cascade control architecture that significantly advanced practical deployment of such systems. Complementary works explored dynamic sliding mode control, wave-based control, and terminal sliding mode approaches, collectively accumulating nearly 100 citations and establishing Khorrambakht as a leading voice in deployable CDPR control. Beyond control theory, they have made meaningful contributions to kinematic calibration, including graph-based self-calibration methods that account for cable sag in large-scale systems and calibration frameworks for spherical parallel robots. More recently, their work has extended to haptic devices for surgical training, demonstrating a commitment to translating robotics research into high-impact biomedical applications. Their growing citation record reflects both the rigor and relevance of their contributions to the field.

Research Focus

Key Achievements

Top Papers

1. 1
   Robust cascade control of a deployable cable-driven robot

   47 citations · 2019
2. 2
   Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition

   20 citations · 2020
3. 3
   Robust Dynamic Sliding Mode Control of a Deployable Cable Driven Robot

   13 citations · 2018
4. 4
   Wave Based Control of A Deployable Cable Driven Robot

   11 citations · 2018
5. 5
   Cascade Terminal Sliding Mode Control of a Deployable Cable Driven Robot

   8 citations · 2019
6. 6
   A Calibration Framework for Deployable Cable Driven Parallel Robots with Flexible Cables

   8 citations · 2019
7. 7
   Forward Kinematics Resolution of A Deployable Cable Robot

   7 citations · 2017
8. 8
   Kinematic Calibration of a Spherical Parallel Robot

   5 citations · 2023
9. 9
   A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

   3 citations · 2024
10. 10
    On The Dynamic Calibration and Trajectory Control of ARASH:ASiST

    3 citations · 2022

Key Collaborators

Contact & Links