Abdur Rosyid

Abdur Rosyid
Khalifa University | KU · Khalifa University Center for Autonomous Robotic Systems

Doctor of Philosophy

About

30
Publications
3,571
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
165
Citations
Additional affiliations
February 2019 - May 2022
Khalifa University
Position
  • Post-Doctoral Research Fellow
September 2014 - December 2018
Khalifa University
Position
  • Research Associate
September 2011 - May 2014
King Saud University
Position
  • Research Associate

Publications

Publications (30)
Conference Paper
This paper presents a novel design of lockable passive prismatic, revolute, universal, and spherical joints that can be used in a joint locking-based reconfigurable mechanism. The proposed lockable joints offer several advantages, including 1) modularity, 2) small locking force/torque, 3) low-power active trigger, 4) no-slip, and 5) simplicity. All...
Conference Paper
As the basic proportional-integral-derivative (PID) control with off-the-shelf control hardware is still the widely used standard of industrial control practice, it is important to find some practical ways to increase the contouring accuracy without a need to apply a model-based control scheme which requires tedious dynamic modeling and leads to hi...
Conference Paper
The modal analysis of parallel kinematics manipulators is more complicated than that of serial kinematics manipulators due to the closed kinematic chains of the former. Using commercial finite element software, modal analysis of the manipulator should be typically set up for every single posture. Using commercial software for dynamic stiffness opti...
Article
This paper proposes a novel, reconfigurable parallel kinematics machine with three degrees of freedom that can be used for various three-axis manipulation tasks, including machining. By locking some joints, the proposed parallel kinematics machine (PKM) can be transformed into four topologies with eight configurations to attain certain kinematic pr...
Article
This paper presents a novel walking hybrid-kinematics robot having three degrees of freedom for on-structure machining of large structures. A symmetric 3PRRR parallel mechanism having maximally regular property is used to provide 3D translational manipulation. Three attachment pads are connected to the base of the parallel mechanism through passive...
Article
Full-text available
This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining of large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used to perform three-axis machining tasks. Three attachment pads connected to p...
Article
Full-text available
This study proposed a novel approach for the offline dynamic parameter identification of parallel kinematics mechanisms in which the friction is significant and varying. Since the friction is significant, it should be incorporated to provide an accurate dynamic model. Furthermore, the varying normal forces as a result of the changing posture of the...
Article
Full-text available
This paper presents the implementation of the floating frame of reference formulation to model the flexible multibody dynamics of a nonsymmetric planar 3PRR parallel manipulator. All of the links, including the moving platform, of the manipulator under study are assumed flexible whereas the joints are assumed rigid. Using the Euler-Bernoulli beam,...
Article
Full-text available
This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexterity, manipulability, force transmission, accuracy, stiffnes...
Article
Full-text available
This paper presents the implementation of nonlinear least squares and iterative linear least squares algorithms for external kinematic calibration of a hybrid kinematics machine composed of two 3PRR planar parallel kinematics mechanisms by utilizing a laser tracker. First the hand-eye and robot-world transformations were obtained by a separable clo...
Article
Passive gravity compensation technologies based on counterweight and torsional springs is rarely discussed due to the unavailability of an exact mathematical manipulation to determine the required spring constants to achieve the static balance. This article proposes using these springs for a parallel kinematics mechanism with revolute joints. Eithe...
Article
This paper proposes a special non-symmetric topology of a 3 P RR planar parallel kinematics mechanism, which naturally avoids singularity within the workspace and can be utilized for hybrid kinematics machine tools. Subsequently, single-objective and multi-objective optimizations are conducted to improve the performance. The workspace area and mini...
Conference Paper
Calibration is a common procedure to increase the accuracy of machine tools. Estimation as an important part of the calibration has been conducted by using various algorithms. This paper presents the implementation of nonlinear least squares (Gaussian least squares differential correction) algorithm to estimate the geometrical parameters of 3PRR pl...
Conference Paper
This paper proposes multi-objective optimization of planar 3PRR parallel kinematics mechanism which offers the advantages of lower degree of freedom parallel kinematics mechanisms. Workspace area, minimum eigenvalue across the workspace, and stiffness condition number across the workspace are chosen to be the objectives in the optimization in order...
Conference Paper
Hybrid kinematics mechanisms combines the advantages of purely serial and purely parallel kinematics mechanisms. Several hybrid kinematics mechanisms have been proposed. This paper proposes a novel hybrid kinematics mechanism using planar 3PRR planar kinematics mechanism, which can be utilized for machine tool. As the common main drawback of parall...
Article
This paper considers the dynamic simulation of an Unmanned Hybrid Flying Robot (UHFR) with main fuel engine in the middle to carry most of the weight and promises long flights. This configuration will increase the flight time of the unmanned copter for a given payload size as opposed to the traditional quad-copters, where only DC motors are used. A...
Article
Full-text available
This paper evaluates the use of adaptive neuro-fuzzy inference system (ANFIS) controller to suppress the vibration in a rotor-bearing-support system, and compare the performance to LQR controller. ANFIS combines the smooth interpolation of fuzzy inference system (FIS) and the learning capability of adaptive neural network. The ANFIS controller desi...
Article
Full-text available
This paper evaluates the use of adaptive neuro-fuzzy inference system (ANFIS) controller to suppress the vibration in a rotor-bearing-support system, and compare the performance to LQR controller. ANFIS combines the smooth interpolation of fuzzy inference system (FIS) and the learning capability of adaptive neural network. The ANFIS controller desi...
Article
The need of rotating machines to operate at higher speeds requires better techniques of vibration control. This paper presents how optimal control is applied to rotor-bearing-support systems in which the rotor finite element models have relatively large degrees of freedom (DOF). To conduct the control design for such rotor finite element models wit...
Article
Full-text available
Rotating discs with variable thickness and nonhomogeneous material properties are frequently used in industrial applications. The nonhomogenity of material properties is often caused by temperature change throughout the disc. The governing differential equation presenting this problem contains many variable coefficients so that no possible analytic...
Conference Paper
Full-text available
Due to simplicity and low cost, rotordynamic system is often modeled by using lumped parameters. Recently, finite elements have been used to model rotordynamic system as it offers higher accuracy. However, it involves high degrees of freedom. In some applications such as control design, this requires higher cost. For this reason, various model redu...

Network

Cited By