Dr.-Ing. in Robotics (summa cum laude), September 1993

• University of Wuppertal, Wuppertal, Germany
• Thesis Title: Dynamics and Control of Constrained Robots
• Advisor: Prof. Dr. Peter Mueller

Master of Science in Mechanical Engineering, March 1986

• Georgia Institute of Technology, Atlanta, USA
• Major: Dynamic Systems and Control
• Thesis Title: Digital Control for a Flexible Manipulator Arm
• Advisor: Prof. Dr. Steve Dickerson

Bachelor of Mechanical Engineering, September 1983

• Yarmouk University, Irbid, Jordan
• Thesis Title: Autamatic Barrier Design
• Advisor: Prof. Dr. Khaled Asfar