T. Kokkinis

About

T. Kokkinis has made foundational contributions to the kinematics, dynamics, and control of robotic manipulators, with a particular focus on parallel and closed-chain structures. His work spans from theoretical frameworks to experimental validation, addressing key challenges in robot design and motion control. His most influential paper, "Kinetostatic performance limits of cooperating robot manipulators using force-velocity polytopes" (1989, 31 citations), introduced a powerful method for analyzing the performance boundaries of multi-robot systems. He further advanced the field by exploring actuational redundancy in parallel robot arms (1991, 22 citations) and characterizing a novel 3-DOF closed-chain kinematic structure (1987, 15 citations), analyzing its singularities and workspace. Kokkinis also pioneered dynamic hybrid control strategies for cooperating robots via nonlinear inversion (1989, 12 citations) and validated these approaches through real-time experiments on a 3-DOF direct-drive mechanism (2002, 10 citations). His research on flexible robot arms, including optimal control-based inverse dynamics solutions (1993, 5 citations), addressed the challenging nonminimum phase nature of these systems. Collectively, Kokkinis’s work has provided essential tools for designing and controlling both rigid and flexible robotic systems, influencing subsequent developments in parallel robotics and cooperative manipulation.

Research Focus

Key Achievements

Top Papers

1. 1
   Kinetostatic performance limits of cooperating robot manipulators using force-velocity polytopes.

   31 citations · 1989
2. 2
   A parallel robot-arm regional structure with actuational redundancy

   22 citations · 1991
3. 3
   Some Properties of a New Kinematic Structure for Robot Manipulators

   15 citations · 1987
4. 4
   Dynamic hybrid control of cooperating robots by nonlinear inversion

   12 citations · 1989
5. 5
   Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism

   10 citations · 2002
6. 6
   Dynamic considerations and motion control experiments for a parallel direct-drive robot arm

   5 citations · 1991
7. 7
   Inverse Dynamics of a Flexible Robot Arm by Optimal Control

   5 citations · 1993
8. 8
   Flexible Robot Arm Control: an Optimal Solution for the Inverse Dynamics

   4 citations · 2005
9. 9
   Dynamic Behavior of a Flexible Robotic Manipulator

   4 citations · 1989
10. 10
    Robustness, convergence and stability considerations for the optimal-control-based inverse dynamics solution for flexible robot arms

    2 citations · 1991

Key Collaborators

Contact & Links