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About

R.R. Waiboer’s research centers on the dynamics and control of industrial robotic manipulators, with a particular focus on the challenging problem of joint friction. His major contributions lie in developing accurate models for friction in gear transmissions, especially at varying velocities—from near-zero to maximum operational speeds. His most cited work, “Velocity Dependence of Joint Friction in Robotic Manipulators with Gear Transmissions” (2005, 23 citations), critically analyzes the limitations of standard Coulomb and viscous friction models, proposing improved approaches for realistic simulation. Waiboer also advanced the use of perturbation methods for closed-loop dynamic simulation, enabling more faithful modeling of industrial robots under real operating conditions. His work on the modelling and identification of a six-axis Stäubli RX90 robot (2005, 6 citations) demonstrates a practical, application-driven approach, using nonlinear finite element methods to generate equations of motion suitable for both simulation and identification. Though his citation counts are modest, Waiboer’s contributions are foundational for engineers seeking to improve robot precision, control, and simulation fidelity—making his research essential reading for those working in robot dynamics and friction compensation.