Ebrahim Amininan
Papers
1
Total Citations
2
H-Index
1
About
Ebrahim Amininan is a robotics researcher whose work centers on kinematic modeling and control of industrial manipulators, with a particular focus on articulated robotic arms. His most notable contribution is the development of an explicit inverse kinematic solution for the FUM 6R-20, a six-axis industrial robot arm designed at Ferdowsi University of Mashhad’s Robotics Lab. In his 2017 paper, Amininan applied the dual quaternion approach—a powerful mathematical framework that unifies rotation and translation—to solve the complex inverse kinematics problem for this specific manipulator. This work provides a computationally efficient and geometrically intuitive method for determining joint configurations required to achieve desired end-effector positions and orientations, which is critical for real-time control and trajectory planning in industrial automation. While his citation count remains modest, Amininan’s research contributes to the practical implementation of advanced algebraic methods in robotics, bridging theoretical kinematics and applied industrial robotics. His work is particularly relevant for researchers and engineers working on robot arm control, offering a streamlined alternative to traditional numerical or geometric approaches.
Research Focus
Key Achievements
Top Papers
- 1