Yongqiang Xiao

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A new smooth online near time-optimal trajectory planning approach is proposed to reduce the computation cost compared to traditional dynamics trajectory planning method. The robot path is expressed by a scalar path coordinate s. The joints torque bounds and speed bounds are transformed into the s-s plane, which can generate the limitation curves of(More)
This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model.(More)
In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e.(More)
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