Developed real-time control systems for advanced surgical robots at Sina Robotics and Medical Innovators. Focused on inverse kinematics algorithms, surgeon-robot interface design, and training platforms for minimally invasive laparoscopic surgery.

Key Contributions:

• Developed real-time control systems for multi-DOF surgical robotic arms
• Using TwinCAT (Beckhoff automation platform) as the PLC controller
• Designed and implemented GUI in Python for intuitive surgeon-robot interaction
• Refining inverse kinematics algorithms enabling precise movements for surgical procedures
• Trained surgeonson robot operation, safety protocols, and clinical best practices
• Collaborated on hardware-software integration for haptic feedback and force control systems

Technical Stack: TwinCAT 3 • Python • MATLAB • Inverse Kinematics • Laparoscopic Robotics

Conducted robotics research in collaboration with a major automobile manufacturer for my M.Sc. thesis, focused on optimizing the motion of spot-welding robots on the vehicle-body production line.

Key Contributions:

• Developed time-optimal and energy-optimal trajectory planning for a 6-DOF serial spot-welding robot in both joint and Cartesian spaces
• Applied genetic algorithm and particle swarm optimization to minimize welding-gun travel time and energy consumption while respecting joint limits and gun-orientation constraints
• Reduced spot-welding cycle time by up to 24% (minimum-time) and up to 11% (multi-objective) versus the manually programmed production trajectories
• Modeled welding-gun position and orientation simultaneously for accurate approach to each weld point on the car body

Technical Stack: MATLAB • Robot Kinematics • Trajectory Optimization • Genetic Algorithm • Particle Swarm Optimization