Wiroj Homsup

Papers

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About

Wiroj Homsup is a robotics researcher whose work has focused on the performance analysis and control of robotic manipulator systems. Working in the mid-to-late 1980s, Homsup made early contributions to the mathematical characterization of robotic mechanisms, developing systematic frameworks for evaluating how well manipulators perform across kinematic, static, and dynamic dimensions. His 1986 paper, "Performance Evaluation of Robotic Mechanisms," introduced performance measures formulated through geometrical representations using the Jacobian and inertia matrix, providing researchers and engineers with rigorous tools for assessing single-arm manipulator capabilities. Building on this foundation, his 1987 follow-up, "PD Control Performance of Robotic Mechanisms," extended these concepts into the control domain, introducing system performance ellipsoids derived from control parameters to evaluate manipulator behavior under model-based PD control. Together, these works have accumulated 11 citations, reflecting their foundational role during a formative era in robotics research. Homsup's contributions helped lay groundwork for more sophisticated performance-based design and control methodologies that continue to influence how engineers evaluate and optimize robotic systems today.