Alok Sinha

Papers

Total Citations

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About

Alok Sinha’s research career is defined by pioneering work in the real-time control and dynamics of robotic manipulators, with a particular focus on achieving near-minimum-time performance. His major contributions lie in developing digital control algorithms that balance speed with precision. In his most cited work, “Real-time dynamics of manipulation robots” (1987, 10 citations), Sinha laid foundational insights into the computational demands of robotic motion. He further advanced the field with a digital state feedback algorithm for near-minimum-time control of robot manipulators (1987, 7 citations), which strategically places closed-loop poles in the Z-plane to minimize response time without sacrificing stability. Notably, Sinha extended these principles to flexible structures in his 1988 paper on controlling a flexible one-link robot (3 citations), where he designed a feedforward function that simultaneously achieves rapid trajectory and damps vibration in controlled modes. While his citation counts reflect a specialized, foundational impact, Sinha’s work is notable for its early and rigorous synthesis of digital control theory with practical robotic constraints, making him a key figure in the development of time-optimal control strategies for both rigid and flexible robotic systems.