Revisiting screw theory-based approaches in the constraint wrench analysis of robotic systems. - Ehsan Sharafian Moghaddam; Afshin Taghvaeipour; Maryam Ghassabzadeh Saryazdi (Robotica, 2022)

Trajectory Optimization of a Spot-welding robot in the Joint and Cartesian Spaces. - Ehsan Sharafian Moghaddam; Maryam Ghassabzadeh Saryazdi; Afshin Taghvaeipour (Int. J. Robotics Autom., 2023)