Xavier Kestelyn

École nationale supérieure d'arts et métiers

Papers

Total Citations

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About

Xavier Kestelyn is a leading researcher in advanced robotics and motion control, specializing in the modeling and control of high-precision mechatronic systems. His primary contributions lie in the dynamic analysis and systematic control of dual-drive moving gantry stage robots, a critical technology for industrial automation and manufacturing. Kestelyn pioneered the development of physical dynamic models that capture the complex mechanical coupling between actuators in these systems, moving beyond the simplistic independent control loops commonly used in industry. His most-cited works, including "Dual-drive gantry stage decoupling control based on a coupling model" (2006) and "Physical dynamic modelling and systematic control structure design of a double linear drive moving gantry stage industrial robot" (2007), each with 9 citations, provide foundational frameworks for decoupling control. By treating the gantry as a true multi-input multi-output (MIMO) system, his research enables superior synchronization, reduced vibration, and enhanced overall positioning accuracy. Kestelyn’s work is essential reading for engineers and researchers seeking to improve the performance of industrial robots, offering a rigorous, model-based approach that bridges the gap between theoretical control design and practical implementation.