Papers
3
Total Citations
29
H-Index
2
About
Abubaker Ahmed is a robotics researcher whose work sits at the intersection of advanced kinematics and intelligent control systems. His primary contributions lie in developing novel mathematical frameworks for robotic manipulation and motion control. Ahmed’s most influential work introduces an innovative approach to solving the inverse kinematics of 6-DOF robot arms by fusing dual quaternions with axis-invariant methods, a technique that has garnered 14 citations. He further refined this methodology by deriving an elegant new formula based on the axis vector and tangent of the rotation angle, leading to an improved unit quaternion for attitude alignment and wrist kinematic solutions—a paper that has earned 13 citations for its analytical elegance. In his latest research, Ahmed tackles the challenge of controlling three-wheeled omnidirectional mobile robots, proposing an optimal model-free adaptive sliding mode controller integrated with an extended state observer to handle complex dynamics and external disturbances. His work bridges theoretical mathematics with practical robotics, offering streamlined solutions for precision-driven industries. Ahmed’s achievements demonstrate a clear trajectory from foundational kinematic theory to robust, real-world control applications.
Research Focus
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Top Papers
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