Faculty Profiles - LI Zexiang | The Hong Kong University of Science and Technology

2023 1

Collision-Conscious Multi-Pass Flank Milling of Complicated Parts Based on Stripification

Computer-Aided Design, v. 157, April 2023, article number 103469
He, Dong; Li, Zhaoyu; Li, Xiangyu; Li, Yamin; Tang, Kai
Article

2022 2

Low noise current controller design for table-level balance robot's joint

Liao, Xuanhong; Shen, Shaojie; Li, Zexiang; Yu, Lei
Conference paper

Project Based Learning in the Context of Cutting-Edge Robotics Competition

Proceedings of the 24th International Conference on Engineering and Product Design Education: Disrupt, Innovate, Regenerate and Transform, E and PDE 2022, 2022, article number EPDE2022/1211
Leung, Suk Wai Winnie; Li, Zexiang
Conference paper

2020 2

Coordinate Descent Optimization for Winged-UAV Design

Journal of Intelligent & Robotic Systems, v. 97, (1), January 2020, p. 109-124
Gu, Haowei; Lyu, Ximin; Li, Zexiang; Zhang, Fu
Article

Hybrid manufacturing scheme for metal using robot and CNC machine

IEEE International Conference on Robotics and Biomimetics, ROBIO, v. 2019, December 2019, article number 8961554, p. 2390-2395
Li, Meng; Lyu, He; Song, Xiangbao; Li, Zexiang
Conference paper

2019 1

Tool-path generation for industrial robotic surface-based application

Advances in Manufacturing, v. 7, (1), March 2019, p. 64-72
Lyu, He; Liu, Yue; Guo, Jiao Yang; Zhang, He Ming; Li, Zexiang
Article

2018 5

Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H_∞ synthesis

IEEE Robotics and Automation Letters, v. 3, (4), October 2018, article number 8385166, p. 2910-2917
Lyu, Ximin; Zhou, Jinni; Gu, Haowei; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Article

Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope

International Journal of Micro Air Vehicles, v. 10, (4), December 2018, p. 303-317
Lyu, Ximin; Gu, Haowei; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Article

A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs

2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, August 2018, article number 8453458, p. 1189-1198
Gu, Haowei; Cai, Xiaoyu; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs

2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, September 2018, article number 8453475, p. 1142-1149
Zhou, Jinni; Lyu, Ximin; Cai, Xiaoyu; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

The Implementation of Tool Path Generation for the Robot Application

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, March 2019, article number 8664802, p. 1145-1150
Lyu, He; Li, Meng; Guo, Jiaoyang; Tong, Jingwen; Liu, Yue; Zheng, Chunxua; Li, Zexiang
Conference paper

2017 11

面向电子封装装备制造的若干关键技术研究及应用

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, v. 53, (5), March 2017, p. 181-189
陈新; 姜永军; 谭宇韬; 高健; 杨志军; 刘冠峰; 贺云波; 王晗; 李泽湘
Article

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, September 2017, article number 8206400, p. 5135-5141
Lyu, Ximin; Gu, Haowei; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, September 2017, article number 8206359, p. 4835-4841
Zhou, Jinni; Lyu, Ximin; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Design and Implementation of a Quadrotor Tail-sitter VTOL UAV

Proceedings - IEEE International Conference on Robotics and Automation, July 2017, article number 7989452, p. 3924-3930
Lyu, Ximin; Gu, Haowei; Wang, Ya; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Design, Implementation and Verification of a Quadrotor Tail-sitter VTOL UAV

2017 International Conference on Unmanned Aircraft Systems (ICUAS 2017), July 2017, article number 7991419, p. 462-471
Wang, Ya; Lyu, Ximin; Gu, Haowei; Shen, Shaojie; Li, Zexiang; Zhang, Fu
Conference paper

Development and Experimental Verification of a Hybrid Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV)

2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, July 2017, article number 7991420, p. 160-169
Gu, Haowei; Lyu, Ximin; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Modeling and Flight Control Simulation of a Quadrotor Tailsitter VTOL UAV

AIAA Modeling and Simulation Technologies Conference, 2017, 2017, p. 1-13
Zhang, Fu; Lyu, Ximin; Wang, Ya; Gu, Haowei; Li, Zexiang
Conference paper

The Design of Iterative Learning Control Scheme for CNC Machine Tools

2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016, January 2017, article number 7831903, p. 665-670
Meng, Tingting; Li, Jiangang; Zheng, Deping; Li, Zexiang
Conference paper

The Research on Virtual Simulation of Lead Screw System

2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016, January 2017, article number 7831878, p. 522-527
Guo, Huijie; Li, Jiangang; Meng, Tingting; Li, Zexiang
Conference paper

Time-optimal and Energy-efficient Trajectory Generation For Robot Manipulator With Kinematic Constraints

IEEE International Conference on Automation Science and Engineering, v. 2017-August, January 2018, p. 503-508
Lyu, He; Song, Xiangbao; Dai, Dan; Li, Jiangang; Li, Zexiang
Conference paper

Tool path interpolation and redundancy optimization of manipulator

IEEE International Conference on Automation Science and Engineering, v. 2017-August, January 2018, p. 770-775
Lyu, He; Song, Xiangbao; Dai, Dan; Li, Jiangang; Li, Zexiang
Conference paper

2016 4

Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics

IEEE Transactions on Robotics, v. 32, (2), April 2016, p. 312-326
Wu, Yuanqing; Loewe, Harald; Carricato, Marco; Li, Zexiang
Article

POE-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model

IEEE Transactions on Robotics, v. 32, (5), October 2016, article number 7551163, p. 1264-1279
Li, Cheng; Wu, Yuanqing; Lowe, Harald; Li, Zexiang
Article

For Your Eyes Only? UAV and DJI

2016 International Symposium on VLSI Design, Automation and Test (VLSI-DAT), 2016
Li, Zexiang
Conference paper

For Your Eyes Only? UAV and DJI

2016 International Symposium on VLSI Technology, Systems and Application (VLSI-TSA), 2016, article number 7480479
Li, Zexiang
Conference paper

2015 3

High Speed Motion Control System With Predictive Observer and Its Parameters Optimization

Applied Mathematics & Information Sciences, v. 9, (2), March 2015, p. 777-787
Zhou, Lei; Li, Jiangang; Li, Zexiang; Fu, Lanhui
Article

High Performance Full Attitude Control of a Quadrotor on SO(3)

2015 IEEE International Conference on Robotics and Automation (ICRA 2015) /IEEE. New York, USA : Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1698-1703, Article number 7139416
Yu, Yun; Yang, Shuo; Wang, Mingxi; Li, Cheng; Li, Zexiang
Conference paper

Precise Quadrotor Autonomous Landing with SRUKF Vision Perception

2015 IEEE International Conference on Robotics and Automation (ICRA 2015) /IEEE. New York, USA : Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2196-2201
Yang, Shuo; Ying, Jiahang; Lu, Yang; Li, Zexiang
Conference paper

2014 9

A Predictive Velocity Observer in Wire Bonder's Control System

Mathematical Problems in Engineering, v. 2014, 2014, article number 398205
Zhou, Lei; Li, Jiangang; Zhang, Wennong; Li, Zexiang
Article

Optimization Algorithms for Kinematically Optimal Design of Parallel Manipulators

IEEE Transactions on Automation Science and Engineering, v. 11, (2), 2014, article number 6518182, p. 574-584
Lou, Yunjiang; Zhang, Yongsheng; Huang, Ruining; Chen, Xin; Li, Zexiang
Article

Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems

IEEE Transactions on Industrial Electronics, v. 61, (7), 2014, article number 6603302, p. 3490-3501
Lou, Yunjiang; Meng, Hao; Yang, Jiangzhao; Li, Zexiang; Gao, Jian; Chen, Xin
Article

A novel smooth transition strategy for BEMF-based sensorless drive startup of PMSM

Proceeding of the 11th World Congress on Intelligent Control and Automation, March 2015, article number 7053435, p. 4296-4301
Wang, Wenjie; Li, Zexiang; Xu, Xiang
Conference paper

An Embedded Solution to Visual Mapping for Consumer Drones

IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, v. 2014, September 2014, article number 6910052, p. 670-675
Zhou, Guyue; Liu, Ang; Yang, Kang; Wang, Tao; Li, Zexiang
Conference paper

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, article number 6907034, p. 1393-1398
Wu, Yuanqing; Li, Cheng; Li, Jing; Li, Zexiang
Conference paper

Identifiability and improvement of adjoint error approach for serial robot calibration

2014 IEEE International Conference on Robotics and Automation (ICRA), June 2014, article number 6907029, p. 1361-1366
Li, Cheng; Wu, Yuanqing; Li, Zexiang
Conference paper

On-board inertial-assisted visual odometer on an embedded system

2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, article number 6907232, p. 2602-2608
Zhou, Guyue; Ye, Jiaxin; Ren, Wei; Wang, Tao; Li, Zexiang
Conference paper

Survey of robotic manipulator workspace

Proceedings of the 33rd Chinese Control Conference, CCC 2014, 2014, article number 6896432, p. 8530-8535
Yang, Xiansheng; Lou, Yunjiang; Li, Zexiang; Chen, Haoyao
Conference paper

2013 9

Application of a force sensor in wire bonding process

Sensors and Transducers, v. 159, (11), 2013, p. 345-350
Zhou, Lei; Li, Jiangang; Fu, L.; Li, Zexiang
Article

Kinematics and optimal design of a novel 3-DoF parallel manipulator for pick-and-place applications

International Journal of Mechatronics and Automation, v. 3, (3), July 2013, p. 181-190
Liao, Bin; Lou, Yunjiang; Li, Zexiang
Article

Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schonflies-Motion Parallel Manipulators

IEEE Transactions on Automation Science and Engineering, v. 10, (3), July 2013, p. 674-686
Li, Zhibin; Lou, Yunjiang; Zhang, Yongsheng; Liao, Bin; Li, Zexiang
Article

开放式驱控一体化的工业机器人控制器开发

机器人技术与应用, v. 2, 2013
黄瑞宁; Lou, Yunjiang; 刘越; 张运强; 王政; 吕恕; Li, Zexiang
Article

A Low-cost and Robust Optical Flow CMOS Camera For Velocity Estimation

2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, article number 6739426, p. 1181-1186
Sun, Ke; Yu, Yun; Zhou, Wancheng; Zhou, Guyue; Wang, Tao; Li, Zexiang
Conference paper

Cartesian Stiffness Evaluation of a Novel 2 DoF Parallel Wrist under Redundant and Antagonistic Actuation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 959-964
Li, Cheng; Wu, Yuanqing; Wu, Jiachun; Shi, Weiyi; Dai, Dan; Shi, Jinbo; Li, Zexiang
Conference paper

Exponential Submanifolds: A New Kinematic Model For Mechanism Analysis and Synthesis

2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 4177-4182
Wu, Yuanqing; Liu, Guanfeng; Loewe, Harald; Li, Zexiang
Conference paper

High Speed Motion Control System Based on Predictive Observer

IEEE International Conference on Information and Automation, v. 2013, 2013, article number 6720262, p. 13-18
Zhou, Lei; Li, Jiangang; Zhang, Wennong; Li, Zexiang
Conference paper

Velocity Estimator Via Fusing Inertial Measurements and Multiple Feature Correspondences From a Single Camera

2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 2013, article number 6739607, p. 1077-1082
Zhou, Guyue; Ma, Fangchang; Li, Zexiang; Wang, Tao
Conference paper

2012 9

A New Hybrid Control Architecture to Attenuate Large Horizontal Wind Disturbance for a Small-Scale Unmanned Helicopter

International journal of advanced robotic systems, v. 9, (45), July 2012
Zhu, Xiaorui; Zeng, Wenwu; Li, Zexiang; Zheng, Chunyang
Article

Design of A High Performance Linear Stage With Floating Stator

中国机械工程学刊, v. 33, (6), December 2012, p. 553-563
Wang, Hong; Li, Zexiang
Article

H∞ Robust Control of a Linear Motor Actuated Parallel XY Stage

Advanced Science Letters, v. 15, (1), August 2012, p. 469-474
Lou, Yunjiang; Shang, Zhaoqi; Huang, Ruining; Li, Zexiang
Article

N -heterocyclic carbene-catalyzed internal redox reaction of alkynals: An efficient synthesis of allenoates

Organic letters, v. 14, (6), 2012, p. 1398-1401
Zhao, Yuming; Tam, Y.; Wang, Y.J.; Li, Zexiang; Sun, Jianwei
Article

A Geometric Theory of Robotics and Beyond

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012
Li, Zexiang
Conference paper

A practical real-time non-uniform rational B-spline curve interpolator for computer numerical control machining

Proceedings of the Institution of Mechanical Engineers; Part C; Journal of Mechanical Engineering Science, v. 226, (4), 2012, p. 1068-1083
Li, J.G.; Qiu, M.M.; Zhang, T.H.; Li, Zexiang
Conference paper

An Open Control System Architecture with an On-line Velocity Filter for Industrial Robots

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 2201-2206
Wang, Zheng; Lou, Yunjiang; Liu, Yue; Li, Zexiang
Conference paper

Dynamics based Time-Optimal Smooth Motion Planning for the Delta Robot

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, p. 1789-1794
Zhang, Yunqiang; Huang, Ruining; Lou, Yunjiang; Li, Zexiang
Conference paper

Sequential Scan Matching with Sensor Order

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, Article number 6224712, p. 4956-4961
Song, Jianyu; Li, Zexiang
Conference paper

2011 14

A Novel Contour Error Estimation for Position Loop-Based Cross-Coupled Control

IEEE/ASME transactions on mechatronics, v. 16, (4), August 2011, p. 643-655
Yang, Jiangzhao; Li, Zexiang
Article

Cyclic optimisation for localisation in freeform surface inspection

International Journal of Production Research, v. 49, (2), 2011, p. 361-374
Xu, Yi; Jiang, Jing; Li, Zexiang
Article

Dynamics and contouring control of a 3-DoF parallel kinematics machine

Mechatronics, v. 21, (1), February 2011, p. 215-226
Lou, Yunjiang; Li, Zhibin; Zhong, Yingying; Li, Jiangang; Li, Zexiang
Article

Quotient kinematics machines: Concept, analysis, and synthesis

Journal of mechanisms and robotics, v. 3, (4), 2011, Article number 041004
Wu, Y.; Wang, H.; Li, Zexiang
Article

A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators' Accuracy

IEEE International Conference on Robotics & Automation (ICRA), 2011, p. 2745-2750
Shi, Jinbo; Li, Zexiang; Wu, Yuanqing
Conference paper

Application of convex optimization in integrated design of five-bar mechanism

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2011, p. 1119-1124
Wang, H.; Yang, J.; Li, Zexiang
Conference paper

Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2011, p. 1113-1118
Yang, J.; Li, Zexiang; Wang, H.; Lou, Y.; Long, Z.
Conference paper

Integrated structure and control design for a flexible planar manipulator

Lecture Notes in Computer Science, v. 7101, (PART 1), 2011, p. 260-269
Lou, Y.; Zhang, Y.; Huang, R.; Li, Zexiang
Conference paper

Kinematic model identification of planar delta manipulator using random Levenberg-Marquardt algorithm

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2011, p. 1097-1102
Shi, J.; Yu, C.; Li, Zexiang
Conference paper

Kinematics analysis of non-orthogonal 5-axis machine tools

Advanced materials research, v. 317, 2011, p. 1826-1831
Zhouyang, H.; Li, J.; Li, Zexiang
Conference paper

Less computational unscented Kalman filter for practical state estimation of small scale unmanned helicopters

IEEE International Conference on Robotics & Automation (ICRA), 2011, p. 1658-1663
Zeng, Wenwu; Zhu, Xiaorui; Li, Yanjie; Li, Zexiang
Conference paper

Multi-objective optimization of a 2-DoF purely translational parallel manipulator

Advanced materials research, v. 317, 2011, p. 794-798
Li, Zhibin; Lou, Yunjiang; Zhang, Yongsheng; Li, Zexiang
Conference paper

Spring force compensation for bond head

Advanced materials research, v. 317, 2011, p. 1711-1716
Zhou, L.; Li, J.; Li, Zexiang
Conference paper

Type synthesis and kinematic analysis of a new class Schönflies motion parallel manipulator

2011 IEEE International Conference on Information and Automation, ICIA 2011, 2011, p. 267-272
Li, Zexiang; Lou, Y.
Conference paper

2010 17

Noncircular gear grinding method using gear generator with form-grinding

Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, v. 42, (11), 2010, p. 1749-1752
Li, Jiangang; Zhou, Lei; Zhao, W.; Li, Zexiang
Article

Sampling-based finger gaits planning for multifingered robotic hand

Autonomous robots, v. 28, (4), 2010, MAY, p. 385-402
Xu, Jijie; Koo, Tak-Kuen John; Li, Zexiang
Article

基于VERICUT非圆齿轮磨齿虚拟加工研究

机械传动=Journal of Mechanical Transmission, v. 34, (2), 2010, p. 1-3
李建刚; 俞春华; 王琳; 谷鹏; 李泽湘
Article

自由曲面的匹配檢測新方法

哈尔滨工业大学学报=Journal of Harbin Institute of Technology, v. 42, (1), January 2010, p. 106-108+114
徐毅; 李澤湘
Article

A soft CNCS on windows-XP

Advanced Materials Research, 2009 International Conference on Manufacturing Science and Engineering, ICMSE 2009; Zhuhai; China, v. 97-101, 26 December 2009 through 28 December 2009; Code 79909, Pages 2011-2014
Zhou, Lei; Li, Jiangang; Yang, Xiao; Li, Zexiang
Conference paper

A unified framework of postprocessor for multi-axis machine tools

Proceedings - 2010 International Conference on Digital Manufacturing and Automation, ICDMA 2010, v. 1, 2010, p. 152-155
Liang, Z.; Li, J.; Lou, Y.; Li, Zexiang
Conference paper

Advanced contouring error compensation in high performance motion control systems

International Workshop on Advanced Motion Control, AMC, 2010, p. 631-636
Zhang, D.; Li, Zexiang; Cong, S.; Wu, H.
Conference paper

Advanced path interpolation in high performance motion control systems

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2010, p. 2925-2930
Zhang, D.; Li, Zexiang; Cong, S.; Wu, H.
Conference paper

An advanced velocity profiles optimizes approach for CNC machine tools

Proceedings - 2010 International Conference on Digital Manufacturing and Automation, ICDMA 2010, v. 1, 2010, p. 172-175
Wang, Y.; Li, J.; Li, Zexiang
Conference paper

Closed-loop identification for motion control system

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2010, p. 477-480
Lei, Z.; Li, J.; Jun, S.; Jun, C.; Li, Zexiang
Conference paper

Dynamic modeling of five-bar manipulator with structurally flexible linkages

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2010, p. 5774-5779
Wang, H.; Xing, Y.; Li, Y.; Li, Zexiang
Conference paper

Geometric properties of zero-torsion parallel kinematics machines

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, p. 2307-2312
Wu, Y.; Li, Zexiang; Shi, J.
Conference paper

NC machine interference and collision checking system based on OpenCASCADE

Proceedings - 2010 International Conference on Digital Manufacturing and Automation, ICDMA 2010, v. 1, 2010, p. 976-979
Yan, J.; Li, J.; Lou, Y.; Li, Zexiang
Conference paper

Neural network based computer-aided process design system for wire bonding quality improvement

Advanced Materials Research, 2009 International Conference on Manufacturing Science and Engineering, ICMSE 2009; Zhuhai; China, v. 97-101, 26 December 2009 through 28 December 2009; Code 79909, Pages 2496-2499
Gao, Jian; Li, Chuanwei; Li, Ketian; Li, Zexiang; Chen, Xin
Conference paper

Quotient kinematics machines: Concept, analysis and synthesis

Proceedings - IEEE International Conference on Robotics and Automation, 2010, p. 2739-2744
Wu, Y.; Wang, H.; Li, Z.; Lou, Y.; Shi, J.
Conference paper

T2: A Novel Two Degree-of-freedom Translational Parallel Robot for Pick-and-place Operation

2010 8th IEEE International Conference on Control and Automation, ICCA 2010, 2010, p. 725-730
Li, Zhibin; Lou, Yunjiang; Li, Zexiang; Yang, Guilin; Gao, Jian
Conference paper

The grinding head design in non-circular gear grinding teeth based on the planar regions interference inspection

Advanced Materials Research, 2009 International Conference on Manufacturing Science and Engineering, ICMSE 2009; Zhuhai; China, v. 97-101, 26 December 2009 through 28 December 2009; Code 79909, Pages 2089-2094
Zhang, Junming; Li, Jiangang; Dong, Zhengkai; Li, Zexiang
Conference paper

2009 11

Accuracy Analysis of Parallel Manipulators With Joint Clearance

Journal of Mechanical Design, v. 131, (1), January 2009, Pages 0110131-0110139
Meng, Jian; Zhang, Dongjun; Li, Zexiang
Article

Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator

Advanced robotics, v. 23, (12-13), 1 September 2009, Pages 1725-1742
Shang, Wei Wei; Cong, Shuang; Li, Ze Xiang; Jiang, Shi Long
Article

Blended feedrate planning algorithm for continuous tool path

Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, v. 41, (3), March 2009, Pages 29-32
Li, Jianguang; Wu, Xiangliang; Li, Zexiang; Zhou, Lei
Article

一种测头半径误差补偿的迭代方法

中国机械工程=China Mechanical Engineering, v. 20, (9), May 2009, p. 1075-1077
徐毅; 李建剛; 李澤湘
Article

地面移动机器人的分阶段位姿镇定方法

控制工程=Control Engineering of China, v. 16, (1), January 2009, p. 88-90+99
韩大鹏; 韦庆; 孙未蒙; 李泽湘
Article

自由曲面的多级定位方法

哈爾濱工業大學學報=Journal of Harbin Institute of Technology, v. 41, (11), November 2009, p. 106-108
徐毅; 李建剛; 李澤湘
Article

A Novel Contour Error Estimation in Biaxial Contouring Control

Proceedings of the IEEE Conference on Decision and Control, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009; Shanghai; China, 15 December 2009 through 18 December 2009; Category number09CH38112; Code 79678, Article number 5400346, Pages 7545-7550
Yang, Jiangzhao; Li, Zexiang
Conference paper

Modelling and development of dynamic simulator for flexible parallel manipulator

IEEE International Conference on Control and Automation, v. 2009, December 2009, article number 5410504, p. 989-994
Leung, Suk Wai Winnie; Li, Zexiang; Shi, Ling
Conference paper

Natural frequency based optimal design of a two-link flexible manipulator

Proceedings - IEEE International Conference on Robotics and Automation, ICRA '09; Kobe; Japan, 17 May 2009; Category numberCFP09RAA-PRT; Code 77661, Article number 5152792, Pages 1768-1773
Lou, Yunjiang; Gong, Wei; Li, Zexiang; Zhang, Jianjun; Yang, Guilin
Conference paper

New method for kinematic analysis of a hybrid manipulator

2009 IEEE International Conference on Information and Automation, ICIA 2009; Zhuhai, Macau; China, 22 June 2009 through 25 June 2009, Category numberCFP09833-CDR; Code 78360, Article number 5204922, Pages 207-211
Shi, Jun; Zhu, Xiaorui; Li, Zexiang
Conference paper

Self-tuning controller design for motion control systems

2009 IEEE International Conference on Information and Automation, ICIA 2009; Zhuhai, Macau; China, 22 June 2009 through 25 June 2009; Category numberCFP09833-CDR; Code 78360, Article number 5204970, Pages 472-477
Li, Yanan; Li, Jiangang; Ye, Xuehui C.; Li, Zexiang
Conference paper

2008 18

A kinematic model of finger gaits by multifingered hand as hybrid automaton

IEEE Transactions on Automation Science and Engineering, v. 5, (3), 2008, JUL, p. 467-479
Xu, Jijie; Li, Zexiang
Article

Extracting feature points for scattered points based on gauss curvature extreme point

Xitong Fangzhen Xuebao / Journal of System Simulation, volume(20), Issue 9, 5 May 2008, Pages 2341-2344
Ma, Liming; Xu, Yi; Li, Zexiang
Article

Kinematic control of free rigid bodies using dual quaternions

International Journal of Automation and Computing, v. 5, (3), 2008, p. 319-324
Han, Dapeng; Wei, Qing; Li, Zexiang
Article

Randomized optimal design of parallel manipulators

IEEE Transactions on Automation Science and Engineering, v. 5, (2), 2008, APR, p. 223-233
Lou, Yunjiang; Liu, Guanfeng; Li, Zexiang
Article

一种完善的自适应NURBS曲线插补算法

中国机械工程=China Mechanical Engineering, v. 19, (9), May 2008, p. 1095-1098+1102
李建剛; 張婷華; 李澤; 劉冠峰
Article

任务空间实时轨迹规划的旋量方法

机器人=Robot, v. 30, (4), 2008, p. 304-310
韓大鵬; 韋慶; 楊樂平; 李澤湘
Article

数控加工中的连续多段直线轨迹B-Spline拟合

哈尔滨工业大学学报=Journal of Harbin Institute of Technology, v. 2008, (10), October 2008, p. 1606-1608
李建剛; 張婷華; 李澤湘; 劉冠峰
Article

A dual-quaternion method for control of spatial rigid body

Proceedings of 2008 IEEE International Conference on Networking, Sensing and Control, ICNSC, 2008, p. 1-6
Han, Dapeng; Wei, Qing; Li, Zexiang
Conference paper

A geometric algorithm for symmetric workpiece localization

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 7th World Congress on Intelligent Control and Automation, WCICA'08; Chongqing; China, 25 June 2008 through 27 June 2008; Category numberCFP08496-CDR; Code 73578, Article number 4592864, Pages 6065-6069
Yi, Xu; Ma, Limin; Li, Zexiang
Conference paper

A real-time cubic parametric curve interpolations for CNC systems

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2008, p. 432-437
Li, Jiangang; Zhou, Lei; Zhang, Tinghua; Li, Zexiang
Conference paper

A sensorless speed control strategy for a low-cost full-closed-loop servo driver system

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2008, p. 5611-5615
Chen, Nanhu; Li, Zexiang
Conference paper

An integrated structure/control design of mechatronics systems

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), ,2008,P376-381
Lou, Yunjiang; Gong, Wei; Shi, Jinbo; Liu, Guanfeng; Li, Zexiang
Conference paper

Control of oriented mechanical systems: A method based on dual quaternion

IFAC Proceedings Volumes (IFAC-PapersOnline), 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea, v. 17, 6 July 2008 through 11 July 2008; Code 79403, Issue 1 PART 1, 2008
Han, Dapeng; Wei, Qing; Li, Zexiang; Sun, Weimeng
Conference paper

Kinematic parameters calibration of redundant planar 2-DOF parallel manipulator with a new error function

7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing; China; 25 June 2008 to 27 June 2008
Feng, Chunshi; Cong, Shuang; Zhang, Yaoxin; Li, Zexiang; Jiang, Silong
Conference paper

Position loop-based cross-coupled control for high-speed machining

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2008, p. 4279-4284
Yang, Jiangzhao; Zhang, Dongjun; Li, Zexiang
Conference paper

Quotient kinematics machines: Concept, analysis and synthesis

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice; France, 22 September 2008 through 26 September 2008; Category number08CH37991; Code 77001, Article number 4650782, Pages 1964-1969
Wu, Yuanqing; Li, Zexiang; Ding, Han; Lou, Yunjiang
Conference paper

Tracking controller design by relay method

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, p. 4273-4278
Zhang, Dongjun; Li, Zexiang; Yang, Jiangzhao
Conference paper

Walking Pattern Design and Feedback Control for Humanoid Robot

Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2008, p. 6580-6583
Chen, Xiangyu; Li, Zexiang
Conference paper

2007 18

A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators

IEEE Transactions on Robotics, v. 23, (4), August 2007, p. 625-649
Meng, Jian; Liu, Guanfeng; Li, Zexiang
Article

Analysis of absolute stability for time-delay teleoperation systems

International Journal of Automation and Computing, v. 4, (2), 2007, p. 203-207
Deng, QiWen; Wei, Qing; Li, Zexiang
Article

Analysis of tooth undercutting in noncircular gears based on numerical computation model of shaping

Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery, Volume 38, Issue 6, June 2007, Pages 138-142
Li, Jiangang; Wu, Xutang; Li, Zexiang
Article

Auto-calibration of a redundant parallel manipulator based on the projected tracking error

Archive of applied mechanics, v. 77, (10), 2007, OCT, p. 697-706
Zhang, Yaoxin; Cong, Shuang; Li, Zexiang; Jiang, Shilong
Article

Freeform surface localization algorithm based on screw theory

Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery, v38,11,November 2007,p.129-132
Ma, Liming; Xu, Yi; Li, Zexiang
Article

Modeling, identification and control of a redundant planar 2-dof parallel manipulator

INTERNATIONAL journal OF control AUTOMATION and SYSTEMS, v. 5, (5), 2007, OCT, p. 559-569
Zhang, Yao-Xin; Cong, Shuang; Shang, Wei-Wei; Li, Ze-Xiang; Jiang, Shi-Long
Article

力反馈时延遥操作系统的时延相关稳定性分析

控制理论与应用=Control Theory & Applications, v. 2007, (5), 2007, p. 825-828+824
鄧啟文; 韋慶; 李澤湘
Article

A study on integrated design methodology: A single beam case

Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, ,2007,p.2747-2752
Shi, Jinbo; Lou, Yunjiang; Zhang, Jianjun; Li, Zexiang
Conference paper

Accuracy analysis of general parallel manipulators with joint clearance

Proceedings - IEEE International Conference on Robotics and Automation, 2007, p. 889-894
Meng, Jian; Zhang, Dongjun; Zhang, Tinghua; Wang, Hong; Li, Zexiang
Conference paper

Adaptive contouring control for high-accuracy tracking systems

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, v. 1, 2007, p. 50-55
Chen, Ni; Lou, Yunjiang; Li, Zexiang
Conference paper

Development and implementation of NURBS interpolator with look-ahead technique

Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, p. 134-139
Lu, Yao; Xu, Jijie; Li, Zexiang
Conference paper

Development and implmentation of NURBS interpolator with look-ahead technique

2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1-3, 2007, p. 543-548
Lu, Yao; Xu, Jijie; Li, Zexiang
Conference paper

Development of a novel 3-DoF purely translational parallel mechanism

Proceedings - IEEE International Conference on Robotics and Automation, 2007, p. 169-174
Lou, Yunjiang; Li, Jiangang; Shi, Jinbo; Li, Zexiang
Conference paper

Finger gaits planning for multifingered manipulation

IEEE International Conference on Intelligent Robots and Systems, vol. 1-9, 2007, p. 2932-2937
Xu, Jijie; Koo, Tak John John; Li, Zexiang
Conference paper

Force Analysis of Whole Hand Grasp by Multifingered Robotic Hand

Proceedings - IEEE International Conference on Robotics and Automation, 2007, Article number 4209094, p. 211-216
Xu, Jijie; Wang, Michael Yu; Wang, Hong; Li, Zexiang
Conference paper

Improving the transparency of teleoperating system

2006 Chinese Control Conference Proceedings, CCC 2006, 2007, p. 861-866
Deng, QiWen; Wei, Qing; Li, Zexiang
Conference paper

Modeling and identification for high-speed milling machines

Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, p. 346-351
Yang, Jiangzhao; Zhang, Dongjun; Li, Zexiang
Conference paper

Overconstraining Problem for Clearance-Free Parallel manipulators

IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 1183-1188, 10-14 April
Meng, Jian; Zhang, TingHua; Li, ZeXiang; Zhang, Dongjun
Conference paper

2006 7

大时延力反馈遥操作系统的PID控制

宇航学报=Journal of Chinese Society of Astronautics, v. 2006, (02), 2006, p. 196-200
鄧啟文; 韋慶; 李澤湘
Article

A novel 3-DoF purely translational parallel mechanism

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 2144-2149
Lou, Yunjiang; Li, Zexiang
Conference paper

Finite motion validation for parallel manipulators: A differential geometry approach

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 502-507
Wu, Yuanqing; Ding, Han; Meng, Jian; Li, Zexiang
Conference paper

Geometric contouring control on the smooth surface

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 4496-4501
Zhang, Dongjun; Lou, Yunjiang; Li, Zexiang
Conference paper

Grasping force optimization for whole hand grasp

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 1582-1587
Xu, Jijie; Lou, Yunjiang; Li, Zexiang
Conference paper

Hybrid automaton: A better model of finger gaits

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 4628-4633
Xu, Jijie; Lou, Yunjiang; Li, Zexiang
Conference paper

Task space based contouring control of parallel machining systems

IEEE International Conference on Intelligent Robots and Systems, 2006, p. 2047-2052
Lou, Yunjiang; Chen, Ni; Li, Zexiang
Conference paper

2005 12

大时延力反馈双边控制系统

机器人=Robot, v. 2005, (05), 2005, p. 410-413+419
鄧啟文; 韋慶; 李澤湘
Article

Applied Motion Control

Cong, Shuang; Li, Zexiang
Book

A general approach for accuracy analysis of parallel manipulators with joint clearance

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, p. 790-795
Meng, Jian; Li, Zexiang
Conference paper

A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation, v. 2005, 2005, p. 2938-2943
Meng, J.; Liu, G.F.; Li, Zexiang
Conference paper

A geometric theory for synthesis and analysis of sub-6 DoF serial manipulator subchains

Proceedings - IEEE International Conference on Robotics and Automation, v. 2005, 2005, p. 4716-4721
Meng, J.; Liu, G.F.; Li, Zexiang
Conference paper

A hybrid system approach to kinematic modelling of mutlifingered hand's finger gaits

Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States, v. 2, 24-28 July 2005, p. 887-892
Xu, Jijie; Liu, Guanfeng; Li, Zexiang
Conference paper

A unified contouring control in the task space

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada, 2-6 August 2005, p. 1569-1574
Zhang, Dongjun; Chen, Ni; Li, Zexiang
Conference paper

Dextrous manipulation planning and control

Proceedings of SPIE--the international society for optical engineering, v. 6042, 2005, p. X423
Li, Zexiang; Xu, Jijie; Han, Li
Conference paper

Kinematic modelling of mutlifingered hand's finger gaits as hybrid automaton

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, p. 3252-3257
Xu, Jijie; Li, Zexiang
Conference paper

Lie Theoretical Approach to Synthesizing T(3) Parallel Kinematic Manipulator

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2015, p.1214-1219
Wu, Yuanqing; Ding, Han; Meng, Jian; Li, Zexiang
Conference paper

Optimal Design of a Parallel Machine based on Multiple Criteria

Proceedings - IEEE International Conference on Robotics and Automation, v. 2005, 2005, p.3219-3224
Lou, Yunjiang; Zhang, Dongjun; Li, Zexiang
Conference paper

Optimal design of parallel manipulators for maximum effective regular workspace

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Edmonton, AB, Canada, 2-6 August 2005, p. 1208-1213
Lou, Yunjiang; Liu, Guanfeng; Chen, Ni; Li, Zexiang
Conference paper

2004 10

A Near-Optimal Probing Strategy For Workpiece Localization

IEEE Transactions on Robotics, v. 20, (4), August 2004, p. 668-676
Xiong, Zhenhua; Wang, Michael Yu; Li, Zexiang
Article

Classification and identification of singularities of parallel mechanism

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 40, (4), 2004, p. 26-31
Shen, Hui; Wu, Xuezhong; Liu, Guanfeng; Li, Zexiang
Article

Geometric method of singularity analysis for parallel robots

自动化学报=Acta Automatica Sinica, v. 30, (3), May 2004, p. 330-336
沈輝; 吳學忠; 劉冠峰; 李澤湘
Article

Motion bifurcation at singularities of parallel mechanisms

Journal of National University of Defense Technology, v. 26, (6), December 2004, p. 54-57
Shen, Hui; Wu, Xuezhong; Li, Zexiang
Article

On geometric algorithms for real-time grasping force optimization

IEEE transactions on control systems technology, v. 12, (6), 2004, NOV, p. 843-859
Liu, Guanfeng; Xu, Jijie; Li, Zexiang
Article

On quality functions for grasp synthesis, fixture planning, and coordinated manipulation

IEEE Transactions on Automation Science and Engineering, v. 1, (2), 2004, Oct., p. 146-162
Liu, Guanfeng; Xu, Jijie; Wang, Xin; Li, Zexiang
Article

Real-time grasping-force optimization for multifingered manipulation: Theory and experiments

IEEE/ASME Transactions on Mechatronics, v. 9, (1), 2004, MAR, p. 65-77
Liu, Guanfeng; Li, Zexiang
Article

A general approach for optimal kinematic design of parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation, v. 2004, (4), 2004, p. 3659-3664
Lou, Yunjiang; Liu, Guanfeng; Xu, Jijie; Li, Zexiang
Conference paper

LMI-based optimal design of parallel manipulators

Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science, 2004, p. 2027-2031
Lou, Yunjiang; Liu, Guanfeng; Li, Zexiang
Conference paper

On quality functions for grasp synthesis and fixture planning

Proceedings - IEEE International Conference on Robotics and Automation, v. 2004, (1), 2004, p. 333-338
Xu, Jijie; Liu, Guanfeng; Li, Zexiang
Conference paper

2003 20

Dynamics and control of redundantly actuated parallel manipulators

IEEE/ASME Transactions on Mechatronics, v. 8, (4), 2003, DEC, p. 483-491
Cheng, Hui; Yiu, Yiu Kuen; Li, Zexiang
Article

Hybrid position/force adaptive control of redundantly actuated parallel manipulators

自动化学报=Acta Automatica Sinica, v. 2003, (04), 2003, p. 567-572
沈輝; 吳學忠; 劉冠峰; 李澤湘
Article

On the discrete symmetric localization problem

International journal of machine tools & manufacture, v. 43, (9), 2003, JUL, p. 863-870
Xiong, Zhenhua; Li, Zexiang
Article

Probe radius compensation of workpiece localization

Journal of Manufacturing Science and Engineering, v. 125, (1), 2003, FEB, p. 100-104
Xiong, Zhenhua; Li, Zexiang
Article

Singularities of Parallel Manipulators: A Geometric Treatment

IEEE Transactions on Robotics and Automation, v. 19, (4), August 2003, p. 579-594
Liu, Guanfeng; Lou, Yunjiang; Li, Zexiang
Article

A comparative study of geometric algorithms for real-time grasping force optimization

China Control Conference, Hubei, China
Liu, G.F.; Xu, J.J.; Li, Zexiang
Conference paper

A comparative study of geometric algorithms for real-time grasping force optimization

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, p. 172-177
Liu, GF; Xu, JJ; Li, Z.
Conference paper

A comparative study of geometric algorithms for real-time grasping force optimization

IEEE International Conference on Robotics & Automation (ICRA), v. 2, 2003, p. 2695-2700
Liu, Guanfeng; Xu, Jijie; Li, Zexiang
Conference paper

A computer-aided probing strategy for workpiece localization

Proceedings - IEEE International Conference on Robotics and Automation, v. 3, 2003, p. 3941-3946
Xiong, Zhenhua; Wang, Michael Yu; Li, Zexiang
Conference paper

A Study on Geometric Algorithms for Real-time Grasping Force Optimization

IEEE International Conference on Intelligent Robots and Systems, v. 4, 2003, p. 3441-3446
Xu, Jijie; Liu, Guanfeng; Wang, XinXin; Li, Zexiang
Conference paper

A Study on Quality Functions for Grasp Synthesis and Fixture Planning

IEEE International Conference on Intelligent Robots and Systems, v. 4, 2003, p. 3429-3434
Xu, Jijie; Liu, Guanfeng; Wang, XinXin; Li, Zexiang
Conference paper

An LMI Based Optimal Design of Parallel Manipulators

IEEE International Conference on Intelligent Robots and Systems, v. 3, 2003, p. 2115-2120
Lou, Yunjiang; Liu, Guanfeng; Li, Zexiang
Conference paper

Autocalibration of a parallel manipulator with sensor redundancy

Proceedings - IEEE International Conference on Robotics and Automation, v. 3, 2003, p.3660-3665
Yiu, Yiu Kuen; Li, Zexiang; Meng, Jian
Conference paper

Convergence analysis and experimental study of geometric algorithms for real-time grasping force optimization

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 2003, p. 2683-2688
Liu, Guanfeng; Xu, Jijie; Li, ZeXiang
Conference paper

General geometric algorithms for optimal design of parallel manipulators

2003 IEEE Int'l Conference on Robotics and Automation, IEEE, Taiwan, pp.1869-1874
Lou, Y.J.; Liu, G.F.; Li, Zexiang
Conference paper

Kinematic Synthesis of Parallel Manipulators: A Lie Theoretic Approach

IEEE International Conference on Intelligent Robots and Systems, v. 3, 2003, p. 2096-2100
Liu, Guanfeng; Meng, Jian; Xu, Jijie; Li, Zexiang
Conference paper

Optimal design of parallel manipulators via LMI approach

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 2003, p. 1869-1874
Lou, Yunjiang; Liu, Guanfeng; Li, Zexiang
Conference paper

Optimal forward kinematics map for a parallel manipulator with sensor redundancy

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, p. 354-359
Yiu, YK; Li, Zexiang
Conference paper

PID and adaptive robust control of a 2-dof over-actuated parallel manipulator for tracking different trajectory

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, p. 1052-1057
Yiu, YK; Li, ZX
Conference paper

Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, p. 1058-1063
Yiu, YK; Li, ZX
Conference paper

2002 10

A Unified Geometric Approach to Modeling and Control of Constrained Mechanical Systems

IEEE Transactions on Robotics and Automation, v. 18, (4), August 2002, p. 574-587
Liu, Guanfeng; Li, Zexiang
Article

Spatial Stiffness Realization with Parallel Springs Using Geometric Parameters

IEEE Transactions on Robotics and Automation, v. 18, (3), 2002, JUN, p. 274-284
Choi, Kinkwan; Jiang, Shilong; Li, Zexiang
Article

Stability of singularity in parallel manipulators

Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology, v. 24, (5) , 2002, October, p. 37
Shen, Hui; Wu, Xuezhong; Li, Zexiang
Article

The study of swing up and balance control for rotary parallel inverted-pendulum

Proceedings of the 4th World Congress on Intelligent Control and Automation, v. 3, 2002, June, p.2370-2374
Zhang, Dongjun; Cong, Shuang; Li, Zexiang; Qin, Zhiqiang
Article

Automatic real-time grasping force determination for multifingered manipulation: Theory and experiments

IEEE International Conference on Intelligent Robots and Systems, v. 2, 2002, p. 1675-1680
Liu, Guanfeng; Xu, Jijie; Li, Zexiang
Conference paper

Control of parallel mechanisms-A geometric approach

Proceedings of the American Control Conference, v. 6, 2002, p. 4720-4725
Yiu, Yiu Kuen; Li, Zexiang
Conference paper

Coordinated manipulation of objects by multifingered robotic hand in contact space and active joint space

Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 2002, p. 3743-3748
Liu, Guanfeng; Li, Junqiang; Li, Zexiang
Conference paper

Inertia equivalence principle and adaptive control of parallel manipulators with redundant actuation

Proceedings of the American Control Conference, 2002, p. 3196-3201
Liu, Guanfeng; Yiu, Yiu Kuen; Li, Zexiang
Conference paper

Inertia equivalence principle and adaptive control of redundant parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation, v. 1, 2002, p. 835-840
Liu, Guanfeng; Wu, Xiue; Li, Zexiang
Conference paper

On the discrete symmetric localization problem

Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 2002, p. 4161-4166
Xiong, Zhenhua; Li, Zexiang
Conference paper

2001 7

Advantages and dynamics of parallel manipulators with redundant actuation

IEEE International Conference on Intelligent Robots and Systems, v. 1, 2001, p. 171-176
Cheng, Hui; Liu, Guanfeng; Yiu, Yiu Kuen; Xiong, Zhenhua; Li, Zexiang
Conference paper

Analysis and control of redundant parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 2001, p. 3748-3754
Liu, Guanfeng; Wu, Ying; Wu, Xiue; Yiu, Yiu Kuen; Li, Zexiang
Conference paper

Distribution of singularity and optimal control of redundant parallel manipulators

IEEE International Conference on Intelligent Robots and Systems, v. 1, 2001, p. 177-182
Liu, Guanfeng; Cheng, Hui; Xiong, Zhenhua; Wu, Xiue; Wu, Ying; Li, Zexiang
Conference paper

Error compensation of workpiece localization

Proceedings - IEEE International Conference on Robotics and Automation, v. 3, 2001, p. 2249-2254
Xiong, Zhenhua; Li, Zexiang
Conference paper

On the dynamics of parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 2001, p. 3766-3771
Yiu, Yiu Kuen; Cheng, Hui; Xiong, Zhenhua; Liu, Guanfeng; Li, Zexiang
Conference paper

On the dynamics of parallel manipulators

IEEE International Conference on Robotics and Automation (ICRA); Seoul; South Korea, v. 4, 2001, Pages 3766-3771
Li, Zexiang
Conference paper

Workpiece localization and computer aided setup system

IEEE International Conference on Intelligent Robots and Systems, v. 2, 2001, p. 1141-1146
Xiong, Zhenhua; Chu, Yunxian; Liu, Guanfeng; Li, Zexiang
Conference paper

2000 13

A Geometric Method for Computation of Datum Reference Frames

IEEE Transactions on Robotics and Automation, v. 16, (6), December 2000, p. 797-806
Gou, Jian Bo; Chu, Yunxian; Xiong, Zhenhua; Li, Zexiang
Article

Grasp Analysis as Linear Matrix Inequality Problems

IEEE Transactions on Robotics and Automation, v. 16, (6), December 2000, p. 663-674
Han, Li; Trinkle, Jeffrey C.; Li, Zexiang
Article

Grasping force analysis and optimization for robotic multifingered manipulation

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (3), 2000, p. 8-12, 16
Qin, Zhiqang; Zhao, Xifang; Li, Zexiang; Xiong, Youlun
Article

On the hybrid localization envelopment problem

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (1), 2000, p.45-49
Chu, Yunxian; Gou, Jianbo; Wu, Hong; Li, Zexiang
Article

On the localization of symmetric workpieces

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (3), 2000, p. 17-21
Gou, Jianbo; Chu, Yunxian; Wu, Hong; Li, Zexiang
Article

The centralized formulation for complete dynamic modelling of robots

Journal of robotic systems, v. 17, (2), 2000, FEB, p. 119-126
Shi, Qi; Lewis, Frank L.T.; Li, Zexiang
Article

对称工件定位问题的研究

機械工程學報, v. 36, (3), 2000, p. 17-21
茍劍波; 儲云仙; 吳宏; 李澤湘
Article

工件自动混合定位包容问题的研究

機械工程學報, v. 36, (1), 2000, p. 45-49
儲云仙; 茍劍波; 吳洪; 李澤湘
Article

机器人多指滚动操作的协调运动生成

機械工程學報, v. 36, (2), 2000, p. 85-90
秦志強; 李澤湘; 熊有倫
Article

機器人多指滾動操作的協調運動生成

機械工程學報=Journal of Mechanical Engineering, v. 36, (2), February 2000, p. 85-90
秦志強; 李澤湘; 熊有倫
Article

滚动接触约束下机器人多指操作的协调运动规划

上海交通大学学报=Journal of Shanghai Jiaotong University, v. 34, (10), October 2000, p. 1355-1360
秦志强; 李泽湘; 赵锡芳
Article

Planning and control of robot dextrous manipulation

Proceedings - IEEE International Conference on Robotics and Automation, v. 1, (1), 2000, p. 263-269
Han, Li; Li, Zexiang; Trinkle, Jeffrey C.; Qin, Zhiqiang; Jiang, Shilong
Conference paper

Stabilization of a 2-DOF spherical pendulum on X-Y table

PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 2000, p. 724-729
Yang, Rong; Yiu, Yiu Kuen; Li, Zexiang
Conference paper

1999 10

A geometric theory of form, profile, and orientation tolerances

PRECISION engineering-journal OF The American Society for PRECISION engineering, v. 23, (2), 1999, APR, p. 79-93
Gou, Jianbo; Chu, Yunxian; Li, Zexiang
Article

Deadzone Compensation in Motion Control Systems Using Adaptive Fuzzy Logic Control

IEEE Transactions on Control Systems Technology, v. 7, (6), November 1999, p. 731-742
Lewis, F. L.; Woo, Kam Tim; Wang, Li-Zin; Li, Zexiang
Article

Grasp analysis as linear matrix inequality problems

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 1999, p. 1261-1268
Han, Li; Trinkle, Jeffrey C.; Li, Zexiang
Article

Hierarchical control of robot multi-fingered manipulation

Zidonghua Xuebao/Acta Automatica Sinica, v. 25, (5), 1999, September, p. 590-597
Qin, Zhiqiang; Xiong, Youlun; Li, Zexiang
Article

On the hybrid localization/envelopment problem

v. 18, (5), 1999, May, p. 491-501
Chu, Yunxian; Gou, Jianbo; Li, Zexiang
Article

Workpiece localization algorithms: Performance evaluation and reliability analysis

Journal of manufacturing systems, v. 18, (2), 1999, p. 113-126
Chu, YX; Gou, JB; Li, Zexiang
Article

Coordinated motion generation for multifingered manipulation using tactile feedback

Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 1999, p. 3032-3037
Jiang, Shilong; Choi, K.K.; Li, Zexiang
Conference paper

Geometric algorithm for hybrid localization/inspection/machinability problem

Proceedings - IEEE International Conference on Robotics and Automation, v. 1, 1999, p. 114-119
Chu, Yunxian; Gou, Jianbo; Li, Zexiang
Conference paper

Geometric approach to establishment of datum reference frames

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 1999, p. 1436-1441
Gou, Jianbo; Chu, Yunxian; Li, Zexiang
Conference paper

Grasping with elastic finger tips

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 1999, p. 920-925
Choi, K.K.; Jiang, Shilong; Li, Zexiang
Conference paper

1998 11

Estimation of object gravity and wrench exerted on object using multifingered hand with force/torque sensors

Chinese Journal of Mechanical Engineering (English Edition), v. 11, (2), 1998, June, p. 102-108
Guan, Yisheng; Zhang, Qixian; Li, Zexiang
Article

Geometric Algorithms for Workpiece Localization

IEEE Transactions on Robotics and Automation, v. 14, (6), December 1998, p. 864-878
Li, Zexiang; Gou, Jian Bo; Chu, Yunxian
Article

Hybrid position/force manipulation of multifingered hand

Chinese Journal of Aeronautics, v. 11, (2), 1998, p. 143-151
Guan, Yisheng; Zhang, Qixian; Li, Zexiang
Article

On the Symmetric Localization Problem

IEEE Transactions on Robotics and Automation, v. 14, (4), August 1998, p. 533-540
Gou, Jian Bo; Chu, Yunxian; Li, Zexiang
Article

A geometric approach of form tolerance formulation and evaluation

IEEE International Conference on Robotics & Automation (ICRA), v. 4, 1998, p. 3646-3651
Gou, Jianbo; Chu, Yunxian; Li, Zexiang
Conference paper

Coordinated motion generation and real-time grasping force control for multifingered manipulation

IEEE International Conference on Robotics & Automation (ICRA), v. 4, 1998, p. 3631-3638
Li, Zexiang; Qin, Zhiqiang; Jiang, Shilong; Han, Li
Conference paper

Fuzzy system compensator for backlash

IEEE International Conference on Robotics & Automation (ICRA), v. 1, 1998, p. 181-186
Woo, Kamtim; Wang, Lixin; Lewis, Frank L.T.; Li, Zexiang
Conference paper

Geometric formulation of orientation tolerances

IEEE International Conference on Robotics & Automation (ICRA), v. 3, 1998, p. 2728-2733
Gou, Jianbo; Chu, Yunxian; Wu, Hailong; Li, Zexiang
Conference paper

Localization algorithms: Performance evaluation and reliability analysis

IEEE International Conference on Robotics & Automation (ICRA), v. 4, 1998, p. 3652-3657
Chu, Yunxian; Gou, Jianbo; Wu, Hailong; Li, Zexiang
Conference paper

Multifingered robotic hands: Contact experiments using tactile sensors

IEEE International Conference on Robotics & Automation (ICRA), v. 3, 1998, p. 2268-2273
Choi, K.K.; Jiang, Shilong; Li, Zexiang
Conference paper

On the hybrid workpiece localization/envelopment problems

IEEE International Conference on Robotics & Automation (ICRA), v. 4, 1998, p. 3665-3670
Chu, Yunxian; Gou, Jianbo; Li, Zexiang
Conference paper

1997 5

A CAD-based probing and localisation method for arbitrarily fixed workpiece

IEEE International Conference on Robotics & Automation (ICRA), v. 2, 1997, p. 1259-1264
Kang, B.; Gou, Jianbo; Chu, Yunxian; Li, Zexiang
Conference paper

Deadzone Compensation in Motion Control Systems Using Adaptive Fuzzy Logic Control

Proceedings of International Conference on Robotics and Automation, v. 2, 1997, p. 1424-1429
Woo, Kam Tim; Lewis, Frank L.T.; Wang, Li Zin; Li, Zexiang
Conference paper

Dextrous manipulation with rolling contacts

Proceedings - IEEE International Conference on Robotics and Automation, v. 2, 1997, p. 992-997
Han, Li; Guan, Yisheng; Li, Zexiang; Shi, Q.; Trinkle, Jeffrey C.
Conference paper

Instantaneous kinematics and planning of dextrous manipulation

Proceedings of the IEEE International Symposium on Assembly and Task Planning, 1997, p.60-65
Han, Li; Trinkle, Jeffrey C.; Li, Zexiang
Conference paper

Performance analysis of localization algorithms

IEEE International Conference on Robotics & Automation (ICRA), v. 2, 1997, p. 1247-1252
Chu, Yunxian; Gou, Jianbo; Kang, B.; Woo, Kam Tim; Li, Zexiang
Conference paper

1996 4

Control of seismic-excited buildings using active variable stiffness systems

Engineering Structures, v. 18, 1996, p. 589-596
Yang, Jann; Wu, Jongcheng; Li, Zexiang
Article

Algebraic algorithm for workpiece localization

IEEE International Conference on Robotics & Automation (ICRA), v. 1, 1996, p. 152-158
Li, Xiaomin; Yeung, Maurice; Li, Zexiang
Conference paper

Contact localization using force/torque measurements

IEEE International Conference on Robotics & Automation (ICRA), v. 2, 1996, p. 1339-1344
Zhou, Xuecai; Shi, Qi; Li, Zexiang
Conference paper

Fundamentals of workpiece localization: theory and algorithms

American Society of Mechanical Engineers, Manufacturing Engineering Division, MED, v. 4, 1996, p. 405-412
Li,Zexiang; Kang,B; Gou, Jianbo; Chu, Yunxian; Yeung, Maurice
Conference paper

1994 9

Attitude control of a space platform manipulator system using internal motion

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v. 13, (4), 1994, AUG, p. 289-304
Fernandes, Chris S.T.; Gurvits, Leonid; Li, Zexiang
Article

Control of hysteretic system using velocity and acceleration feedbacks - Closure

Journal of Engineering Mechanics, v. 120, (2), 1994, Feb , p. 418
Yang, Jann; Li, Zexiang
Article

Control of sliding-isolated buildings using dynamic linearization

Engineering Structures, v. 16, (6),1994, p. 437-444
Yang, Jann; Li, Zexiang; Wu, Jongcheng; Hsu, I.R.
Article

Generalization of optimal control theory: Linear and nonlinear control

Journal of Engineering Mechanics, v. 120, (2), 2014, FEB, p. 266-283
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan
Article

NEAR-OPTIMAL NONHOLONOMIC MOTION PLANNING FOR A SYSTEM OF COUPLED RIGID BODIES

IEEE transactions on automatic control, v. 39, (3), 1994, MAR, p. 450-463
FERNANDES, C.; GURVITS, L.; LI, ZX
Article

Stochastic hybrid control of hysteretic structures

Probabilistic Engineering Mechanics, v. 9, (1-2), 1994, p. 125-133
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan
Article

A Mathmematical Introduction to Robotic Manipulation

Murray, Richard M.; Li, Zexiang; Shankar Sastry, S.
Book

Control of seismic-excited buildings using active variable stiffness systems

Proceedings of the American Control Conference, v. 1, 1994, p.1083-1088
Yang, Jann; Li, Zexiang; Wu, Jongcheng
Conference paper

Discontinuous control of seismic-excited nonlinear and hysteretic structures

Proceedings of the Structures Congress, 1994, April; Atlanta, GA, USA
Yang, Jann; Li, Zexiang; Wu, Jongcheng
Conference paper

1993 1

Hybrid control of seismic-excited bridge structures using variable dampers

Structural Engineering in Natural Hazards Mitigation, 1993, p. 778-783
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan
Conference paper

1992 10

Aseismic hybrid control of nonlinear and hysteretic structures I

Yang, Jann; Li, Zexiang; Danielians, A.; Liu, Shihchi
Article

Aseismic hybrid control of nonlinear and hysteretic structures II

Journal of Engineering Mechanics, v. 118, (7), 1992, July, p.1441-1456
Yang,Jann; Li,Zexiang; Danielians, A.; Liu, Shihchi
Article

Control of hysteretic system using velocity and acceleration feedbacks

Journal of Engineering Mechanics, v. 118, (11), 1992, NOV, p. 2227-2245
Yang, Jann; Li, Zexiang; Liu, Shihchi
Article

Instantaneous optimal control with acceleration and velocity feedback

Probabilistic Engineering Mechanics, v. 6, (3), 1991 ,Dec, P.204-211
Yang, Jann; Li, Zexiang; Liu, Shihchi
Article

Stable controllers for instantaneous optimal control

Journal of Engineering Mechanics, v. 118, (8), 1992, Aug, P.1612-1630
Yang,Jann; Li,Zexiang; Liu, Shihchi
Article

Nonholonomic Motion Planning

Li, Zexiang; Canny, J.
Book

Optimal nonholonomic motion planning for a falling cat

Nonholonomic Motion Planning / Edited by Li Z.X., Canny J.F.. Kluwer Academic Publishers, 1992
Fernandes, C.; Gurvits, L.; Li, Zexiang
Book chapter

Smooth time-periodic solutions for nonholonomic motion planning

Nonholonomic Motion Planning / Edited by Li Z.X., Canny J.F.. Kluwer Academic Publishers, 1992
Gurvits, L.; Li, Zexiang
Book chapter

Attitude control of a space platform/manipulator system using internal motion

Proc. of IEEE ICRA'92, Nice, France, 1992
Fernandes, C.; Gurvits, L.; Li, Zexiang
Conference paper

Structural control under stochastic seismic loads

Proceedings of Engineering Mechanics, 1992, p. 828-831
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan
Conference paper

1991 4

Attitude control of a space platform/manipulator system using internal motion

Space Robotics: Dynamics and Control / Edited by Xu Y.S., Kanade T.. Kluwer Academic Publishers, December 1991
Fernandes, C.; Gurvits, L.; Li, Zexiang
Book chapter

On Grasping and coordinated manipulation with multifingered robotic hands

Robot Control: Dynamics, Motion Planning and Analysis / Edited by Spong M.W., Lewis F.L., Abdallah C.T.. IEEE Press, 1991
Li, Zexiang; Hsu, P.; Sastry, S.
Book chapter

A variational approach to optimal nonholonomic motion planning

Proceedings - IEEE International Conference on Robotics and Automation, v.1,1991,p.680-685
Fernandes, Chris S.T.; Gurvits, Leonid; Li, Zexiang
Conference paper

Optimal nonholonomic motion planning

IEEE ICRA'91, Sacramento, CA., 1991, p. 680-685
Fernandes, C.; Gurvits, L.; Li, Zexiang
Conference paper

1990 4

Geometric considerations of robot kinematics

International Journal of Robotics and Automation, v.5, (3), 1990, p. 139-145
Li, Zexiang
Article

Motion of Two Rigid Bodies with Rolling Constraint

IEEE Transactions on Robotics and Automation, v. 6, (1), 1990, Feb, p. 62-72
Li, Zexiang; Canny, John F.
Article

An Energy-perturbation approach to limit cycle analysis in legged locomotion systems

29th IEEE Conf. on Decision and Control, May 1990, p. 1989-1994
Li, Zexiang; He, Jiping
Conference paper

Dynamics and optimal control of a legged robot in flight phase

1990 IEEE Int'l Conference on Robotics and Automation, Cincinnati, May 1990, p. 1816-1821
Montgomery, Raymond C.; Li, Zexiang
Conference paper

1989 6

Grasping and coordinated manipulation by a multifingered robot hand

International Journal of Robotics Research, v.8, (4), 1989, p. 33-50
Li, Zexiang; Hsu, Ping; Sastry, Shankar S.
Article

A unified approach for the control of multifingered robot hands

Dynamics and Control of Multibody Systems / Edited by Marsden J., Krishnaprasad P.S., Simo J.C.. American Mathematical Society, 1989, p. 217-240
Li, Zexiang; Sastry, S.
Book chapter

Dextrous robot hands: several important issues

Dextrous Robot Hands / Edited by Venkataraman S.T., Iberall T.. Springer-Verlag, 1989, p. 154-186
Li, Zexiang; Sastry, S.
Book chapter

On motion planning for dextrous manipulation, part I: the problem formulation

IEEE ICRA'89, Scottsdale, AZ, May 1989, p. 775-781
Li, Zexiang; Canny, John F.; Sastry, Shankar S.
Conference paper

Robot motion planning with nonholonomic constraints

Proceedings of the 28th IEEE Conference on Decision and Control. Part 1 (of 3); Tampa, FL, USA, v. 1, 1989, p. 211-216
Sastry, Shankar S.; Li, Zexiang
Conference paper

Robot motion planning with non-holonomic constraints

Fifth International Symposium on Robotics Research, Edited by Miura H., Arimoto S.. MIT Press, 1989, p. 309-316
Li, Zexiang; Canny, J.; Heinzinger, G.
Conference paper

1988 4

Task oriented optimal grasping by a multifingered robot hand

IEEE Journal on Robotics and Automation, v. 4 (1), 1988, Feb, p. 32-44
Li, Zexiang; Sastry, S.
Article

Dynamic control of a multiple robotic system

1988 American Control Conference, 1988
Li, Zexiang; Hsu, P.; Sastry, S.
Conference paper

Dynamic coordination of a multiple robotic system with point contact

Proceedings of the 1988 American Control Conference, v. 88, p. 505-510
Li, Zexiang; Hsu, Ping; Sastry, Shankar S.
Conference paper

On grasping and coordinate manipulation by a multifingered robot hand

Proceedings of IEEE International Conference on Robotics and Automation, 1988, p. 381-386
Hsu, P.; Li, Zexiang; Sastry, S.
Conference paper

1986 1

Conditioned invariant subspaces, disturbance decoupling and solutions of rational matrix equations

International Journal of Control, v.43, (1), 1986, p. 91-108
Li, Zexiang; Sastry, S.
Article

Research Interest

Publications

2023 1

2022 2

2020 2

2019 1

2018 5

2017 11

2016 4

2015 3

2014 9

2013 9

2012 9

2011 14

2010 17

2009 11

2008 18

2007 18

2006 7

2005 12

2004 10

2003 20

2002 10

2001 7

2000 13

1999 10

1998 11

1997 5

1996 4

1994 9

1993 1

1992 10

1991 4

1990 4

1989 6

1988 4

1986 1

Article 1

Conference paper 2

Article 1

Conference paper 1

Article 1

Article 2

Conference paper 3

Article 1

Conference paper 10

Article 2

Conference paper 2

Article 1

Conference paper 2

Article 3

Conference paper 6

Article 4

Conference paper 5

Article 4

Conference paper 5

Article 4

Conference paper 10

Article 4

Conference paper 13

Article 6

Conference paper 5

Article 7

Conference paper 11

Article 7

Conference paper 11

Article 1

Conference paper 6

Article 1

Book 1

Conference paper 10

Article 7

Conference paper 3

Article 5

Conference paper 15

Article 4

Conference paper 6

Conference paper 7

Article 11

Conference paper 2