Usarna Iqbal
Papers
1
Total Citations
42
H-Index
1
About
Dr. Usarna Iqbal is a distinguished roboticist whose work bridges the gap between theoretical modeling and practical control of complex mechanical systems. Her primary research focuses on robotic kinematics, dynamics, and advanced control strategies for articulated manipulators. In her seminal 2014 paper, "Modeling and computed torque control of a 6 degree of freedom robotic arm," Dr. Iqbal developed comprehensive direct and inverse kinematic models for the ED 7220C vertical articulated serial arm, a 5-revolute-joint system with six degrees of freedom. She further derived the system dynamics to enable precise computed torque control, a nonlinear control technique that compensates for dynamic interactions between joints. This work, with 42 citations, has become a foundational reference for researchers designing controllers for high-degree-of-freedom robotic arms. Dr. Iqbal's contributions are particularly valuable for applications requiring accurate force analysis and robust trajectory tracking, such as industrial automation and surgical robotics. Her ability to translate complex dynamic equations into implementable control solutions marks her as a key figure in advancing robotic manipulation technology.
Research Focus
Key Achievements
Top Papers
- 1Modeling and computed torque control of a 6 degree of freedom robotic arm42 citations · 2014