Yousef Gharbia

Papers

Total Citations

H-Index

About

Yousef Gharbia is a robotics researcher whose work focuses on the critical challenge of friction compensation in robotic manipulators. His most cited paper, "GMS friction compensation in robot manipulator" (2013, 8 citations), addresses the complex dynamics of friction in a two-degree-of-freedom planar robot. Rather than relying on simplified models, Gharbia employs the Generalized Maxwell Slip (GMS) friction model—one of the most realistic and sophisticated approaches available. To implement this, he developed an online least squares algorithm that enables real-time estimation and compensation of frictional forces, a key step toward improving precision and control in robotic systems. Though his citation count is modest, his work represents an important technical contribution to the field of robot dynamics and control, particularly in applications where accurate motion and force control are essential. Gharbia’s research sits at the intersection of modeling, estimation, and control, offering practical solutions for enhancing the performance of robotic manipulators in real-world environments.