Thanh-Trung Do

Papers

Total Citations

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About

Dr. Thanh-Trung Do is a robotics researcher specializing in the dynamics and control of flexible-joint manipulators. His work focuses on developing efficient computational methods for modeling, vibration analysis, and real-time control of these complex systems. Dr. Do's most significant contribution is his 2021 paper on "Linearization of dynamic equations for vibration and modal analysis of flexible joint manipulators," which has garnered 34 citations, reflecting its impact on the field. This work provides a foundational approach for understanding and mitigating vibrations in robotic arms with elastic joints. Additionally, he introduced a novel symbolic differentiation algorithm for inverse dynamics of serial robots with flexible joints, achieving O(n) computational complexity—a breakthrough that enables real-time applications. This algorithm, detailed in his 2021 paper (5 citations), automates the generation of symbolic inverse dynamics, making advanced control more accessible. Dr. Do's research bridges theoretical mechanics and practical robotics, offering tools that enhance the precision and safety of flexible-joint robots in industrial and research settings. His work is essential reading for engineers and researchers tackling the challenges of lightweight, compliant robotic systems.