Papers
5
Total Citations
14
H-Index
2
About
Hassan Alwan is a rising researcher in robotics, specializing in the kinematics, dynamics, and intelligent control of robotic manipulators and mobile robots. His work addresses fundamental challenges in robotic motion, including trajectory planning, singularity avoidance, and advanced control strategies. Alwan’s most cited paper (2019, 6 citations) presents forward and inverse kinematic solutions for a three-link robot manipulator with a spherical wrist using Denavit-Hartenberg notation, establishing a foundation for precise end-effector control. His 2024 study on a 6-DOF prismatic-joint manipulator (3 citations) develops mathematical models to optimize robotic joint movement. Notably, his 2025 paper on intelligent control methods for singularity avoidance (2 citations) tackles a critical problem in robotics—loss of manipulability—by optimizing trajectories and implementing advanced controllers. Alwan also explores dynamic modeling using the Euler-Lagrange method and experimentally validates a multi-stage PID-MRAC controller for trajectory tracking in four-mecanum-wheeled mobile robots (2025, 1 citation). His work bridges theoretical modeling with practical implementation, contributing to safer, more efficient robotic systems for industrial and mobile applications.
Research Focus
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