Papers
2
Total Citations
9
H-Index
2
About
G. Perumalsamy is a robotics researcher specializing in the control and path planning of serial robotic arms, with a particular focus on applications in nuclear engineering. His work addresses the critical challenge of automating inspection tasks in hazardous environments, such as the steam generators of Prototype Fast Breeder Reactors (PFBR). His most cited paper, "Quintic Interpolation Joint Trajectory for the Path Planning of a Serial Two-Axis Robotic Arm for PFBR Steam Generator Inspection" (2018, 6 citations), introduces a smooth, efficient trajectory planning method to navigate robotic arms through the confined, high-risk spaces of sodium-water heat exchangers. Building on this, his 2021 paper on "Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm" (3 citations) proposes a robust control strategy to handle the dynamic uncertainties and exothermic sodium-water reactions that threaten system integrity. By integrating quintic interpolation for vibration-free motion with computed torque control for precise force management, Perumalsamy’s research directly contributes to safer, more reliable nuclear reactor maintenance. His work stands out for its practical engineering impact, offering a blueprint for deploying robots in extreme conditions where human access is impossible.
Research Focus
Key Achievements
Top Papers
- 1
- 2Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm3 citations · 2021