R. Lingarkar

Papers

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About

R. Lingarkar is a pioneering figure in the field of robotic force control and manufacturing automation, with a career dedicated to enhancing the precision and adaptability of industrial robots. His foundational work, "Force Control for Robotic Deburring" (1991), which has garnered 50 citations, introduced an active end-effector-based force control system that successfully minimized surface roughness and maintained a controlled chamfer depth during deburring operations. This breakthrough demonstrated the practical viability of online force variance minimization using a PUMA-560 robot. Building on this, Lingarkar’s later research, "On adaptive force/motion control of constrained robots" (2003, 15 citations), advanced the theoretical framework for simultaneously controlling both motion trajectory and contact force in constrained robotic environments. By leveraging nonlinear coordinate transformations and passivity-based design, he developed an adaptive algorithm that ensures stability and robustness. Lingarkar’s contributions have been instrumental in bridging the gap between theoretical control strategies and real-world manufacturing applications, making him a respected authority in adaptive robotics and force-guided automation.