Chanakya University School of Biosciences

Sandeep Kumar

Ph.D., (Thesis Submitted), Indian Institute of Technology, Delhi

Sandeep Kumar

Ph.D., (Thesis Submitted), Indian Institute of Technology, Delhi
sandeepkumar@chanakyauniversity.edu.in
Robotics, Kinematics, Dynamics of Multibody Systems, Control, and Finite element method

My research interest lies in the dynamics and control of multibody robotic systems, with emphasis on flexible and rigid–flexible manipulators. The increasing demand for lightweight and high-speed robots introduces structural flexibility and nonlinear dynamic coupling, which degrade motion accuracy and excite vibrations. My work focuses on developing efficient dynamic models and control strategies that enable accurate trajectory tracking while suppressing vibrations in flexible robots. I use multibody dynamics formulations with finite element discretization and symbolic modeling to capture configuration-dependent dynamics in a computationally efficient manner. A key aspect of my research is vibration-aware control for trajectory planning, where feedback control is combined with feedforward control. By exploiting system dynamics rather than compensating through controller gains, I aim to improve tracking performance during fast robotic motions. Through numerical simulation and validation using multibody dynamics tools, my research contributes toward reliable, precise, and high-performance robotic systems.

Sandeep Kumar is a PhD candidate (thesis submitted) in the Department of Mechanical Engineering at the Indian Institute of Technology Delhi. His research interests lie in the dynamics and control of multibody robotic systems, with a focus on flexible and rigid–flexible manipulators. His work addresses dynamic modeling, vibration suppression, and trajectory tracking using multibody dynamics formulations and hybrid control strategies.

He received his Master of Technology degree in Machine Design from the Indian Institute of Technology Ropar and his Bachelor of Technology degree in Mechanical Engineering from the National Institute of Technology Kurukshetra. He has published research in leading journals and conferences in robotics and multibody dynamics and has served as a teaching assistant for undergraduate and postgraduate courses at IIT Delhi.

  • Ph.D., Mechanical Engineering (Thesis Submitted), Indian Institute of Technology, Delhi
  • M.Tech., Machine Design, Indian Institute of Technology, Ropar
  • B.Tech., Mechanical Engineering, National Institute of Technology, Kurukshetra

Journal Articles

  1. S. Kumar, S. Vishwakarma, S. K. Saha, A. Singla, S. P. Singh, and T. K. Bera, “PWM and desired angle based command shaping for vibration suppression of flexible manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, pp. 1–12, 2025.
  2. S. Kumar, S. K. Saha, A. Singla, S. P. Singh, and T. K. Bera, “Command shaped trajectory tracking control for a two-link flexible manipulator,” Multibody System Dynamics, vol. 60, no. 4, pp. 581–597, 2024.
  3. S. Kumar, D. K. Mahajan, J. Bouhattate, and D. Srinivasan, “An experimentally informed computational framework for investigating the role of surface roughness on high cycle fatigue life of LPBF IN718,” Transactions of the Indian National Academy of Engineering, vol. 8, no. 3, pp. 389–401, 2023.

Conference Proceedings

  1. S. Kumar, S. Kundu, S. K. Saha, and S. P. Singh, “Trajectory tracking for rigid–flexible manipulator system using multibody dynamics software,” in Proc. Asian Conf. Multibody Dynamics (ACMD), Suwon, South Korea, Aug. 2024.
  2. S. Ashwath Ram, A. Nag, S. Kumar, and S. K. Saha, “Experimental validation of the position and orientation workspaces of the Stewart–Gough platform,” in Recent Advances in Machines, Mechanisms, Materials and Design, Singapore: Springer, 2024, pp. 153–164.
  3. S. Kumar, S. K. Saha, and S. P. Singh, “A symbolic approach for deriving dynamic equations for multi-link flexible manipulator systems,” in Proc. ECCOMAS Thematic Conf. Multibody Dynamics, Lisbon, Portugal, Jul. 2023.
  4. S. Kumar, S. K. Saha, A. Singla, S. P. Singh, and T. K. Bera, “Vibration suppression during trajectory tracking of a PRR manipulator,” in Proc. 6th Int. Conf. Advances in Robotics (AIR), Ropar, India, 2023, pp. 1–6.
  5. S. Ashwath Ram, A. Nag, S. Kumar, and S. K. Saha, “Modal analysis of the Stewart platform manipulator: Experimentation and finite element modelling,” in Proc. 6th Int. Conf. Advances in Robotics (AIR), Ropar, India, 2023.
  6. S. Kumar, U. Banerjee, S. K. Saha, I. N. Kar, and S. P. Singh, “Tracking control of a single-link flexible manipulator,” in Proc. 5th Int. Conf. Advances in Robotics (AIR), Kanpur, India, 2022.
  7. S. Kumar, S. K. Saha, and S. P. Singh, “Multibody dynamics software-based simulation of a game for robotics competitions,” in Proc. Joint Int. Conf. Multibody System Dynamics and Asian Conf. Multibody Dynamics (IMSD–ACMD), New Delhi, India, Oct. 2022.
  8. S. Kumar, S. K. Saha, and S. P. Singh, “Configuration dependency of natural frequency for a two-link flexible manipulator,” in Proc. NAFED, IIT Delhi, India, 2022.
  9. S. Kumar, S. Vishwakarma, R. Singh, et al., “Design and development of a three-link rigid–flexible manipulator,” in Proc. Int. Conf. Industrial Problems on Machines and Mechanisms, Singapore: Springer, 2022, pp. 109–117.
  10. S. Kumar, D. K. Mahajan, J. Bouhattate, and D. Srinivasan, “Computational investigations into the role of surface roughness on high cycle fatigue life of additively manufactured IN718,” in Proc. 4th Structural Integrity Conf. and Exhibition (SICE), IIT Hyderabad, India, 2022.
  11. S. Kumar, D. K. Mahajan, J. Bouhattate, and D. Srinivasan, “Computational investigations into the role of surface roughness on high cycle fatigue life of additively manufactured IN718,” in Proc. ASTM Int. Conf. on Additive Manufacturing (ICAM), California, USA, Dec. 2021.
  12. S. Kumar, D. K. Mahajan, J. Bouhattate, and D. Srinivasan, “Simulation methodology for evaluating the role of surface roughness on the high cycle fatigue life of additively manufactured IN718,” in Proc. Annual Technical Meeting (ATM) of the Indian Institute of Metals, India, Nov. 2021.
  13. P. Nandihal, S. Kumar, R. Singh, et al., “Dynamics of single-link flexible manipulator: Theoretical and experimental study,” in Proc. IMSD–ACMD, IIT Delhi, India, 2020.

  • Qualified Joint Entrance Examination (JEE) Advanced, All India Rank 12228, organized by IIT Delhi, 2013
  • Qualified Joint Entrance Examination (JEE) Main, All India Rank 7631, organized by CBSE, 2013
  • Qualified Graduate Aptitude Test in Engineering (GATE), Score 726/1000, organized by IIT Roorkee, 2017
  • Qualified Graduate Aptitude Test in Engineering (GATE), organized by IIT Guwahati and IIT Madras, 2018–2019
  • Ranked under top 10, Mechanical Engineering Department, National Institute of Technology Kurukshetra, 2017
  • Ranked under top 50, Central Programme for Youth Leadership in Science (CPYLS), CSIR Chandigarh, 2012
  • Outstanding Performance Award, Board of School Education Haryana, 2010 and 2012
  • District Topper (Rural Category), Board of School Education Haryana, 2010
  • Volunteer, ROBOCON India, Indian Institute of Technology Delhi, 2019–2024
  • Certification in Complete Multibody Dynamics using ADAMS, Hexagon, 2021
  • Certification in LabVIEW Basic Course, AKGEC Ghaziabad, 2024
  • Participation Certificate, SAC Club, National Institute of Technology Kurukshetra, 2017

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