J. R. Stubbe

Papers

Total Citations

271

H-Index

About

J. R. Stubbe is a pioneering researcher in the field of robotics, with a primary focus on the dynamics and control of flexible manipulators and the design of high-performance force sensors. His most impactful contribution is the development of an iterative frequency domain approach for solving the inverse dynamics and kinematics of multi-link elastic robots, a seminal work published in 1989 that has garnered 222 citations. This technique, experimentally validated, provides a robust method for determining the joint torques required to achieve precise end-effector motion in flexible robots, addressing a critical challenge in robotic control. Stubbe also made significant strides in sensor technology, proposing a unified evaluation criteria for six-axis force sensors based on condition number, stiffness, and sensitivity. His work on a novel optimal frame truss design for robotic applications, cited 47 times, has influenced the development of more accurate and reliable force sensing in robotics. Though his later work on truss-type force sensors is less cited, his early contributions remain foundational, establishing him as a key figure in advancing both the theoretical and practical aspects of robotic manipulation and sensing.