Zexiang LI
李澤湘
PhD in Engineering
University of California, Berkeley, 1989

Colin Lam Ko Yin Professor of Engineering

Professor
Department of Electronic and Computer Engineering



(852) 2358 7051
eezxli@ust.hk
Room CYT2009
Personal Web

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ORCID
0000-0002-7920-6436

Scopus ID
7409078731




Research Interest Publications Projects RPG Supervision Space used




Research Interest

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Motion control and manufacturing
Robotics



Publications

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All Years 278 2022 0 2021 0 2020 1 2019 2 2018 5 2017 11 2016 259

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2020 1

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 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
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 08385166, 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
The 2016 International Symposium on VLSI Technology, Systems and Applications (2016 VLSI-TSA), Hsinchu,Taiwan, April 25-27, 2016
Li, Zexiang Conference paper
For Your Eyes Only? UAV and DJI
2016 International Symposium on VLSI Design, Automation and Test (VLSI-DAT), 2016
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), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1698-1703
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), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2196-2201
Yang, Shuo; Ying, Jiahang; Lu, Yang; Li, Zexiang Conference paper

2014 7

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
On-board inertial-assisted visual odometer on an embedded system
2014 IEEE International Conference on Robotics and Automation (ICRA), September 2014, article number 6907232, p. 2602-2608
Zhou, Guyue; Li, Zexiang; Ye, Jiaxin; Ren, Wei; Wang, Tao Conference paper
Survey of Robotic Manipulator Workspace
Proceedings of the 33rd Chinese Control Conference, CCC 2014, November 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, Issue 1, August 2012, Pages 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 Sch?nflies 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 011
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
Electronic Science Press, China
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
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 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 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 14

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
Coordinated motion generation for multifingered manipulation with rolling contacts
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (2), 2000, p. 85-90
Qin, Zhiqiang; Li, Zexiang Article
Coordinated motion generation for multifingered manipulation with rolling contacts
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, v. 34, (10), 2000, October, p. 1355-1360
Qin, Zhiqiang; Li, Zexiang; Zhao, Xifang 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
滚动接触约束下机器人多指操作的协调运动规划
上海交通大學學報, v. 34, (10), 2000, p. 1355-1360
秦志強; 李澤湘; 趙錫芳 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
A Mathmematical Introduction to Robotic Manipulation. CRC Press / January 2017, 519 pages
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
Nonholonomic Motion Planning / Kluwer Academic Publishers, 1992, 445 pages
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


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Conference paper 1

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


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Article 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
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


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Article 2

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 08385166, p. 2910-2917
Lyu, Ximin; Zhou, Jinni; Gu, Haowei; Li, Zexiang; Shen, Shaojie; Zhang, Fu
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

Conference paper 3

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
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
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


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Article 1

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

Conference paper 10

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
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
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
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
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
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
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
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
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
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


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Article 2

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
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

Conference paper 2

For Your Eyes Only? UAV and DJI
The 2016 International Symposium on VLSI Technology, Systems and Applications (2016 VLSI-TSA), Hsinchu,Taiwan, April 25-27, 2016
Li, Zexiang
For Your Eyes Only? UAV and DJI
2016 International Symposium on VLSI Design, Automation and Test (VLSI-DAT), 2016
Li, Zexiang


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Article 1

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

Conference paper 2

High Performance Full Attitude Control of a Quadrotor on SO(3)
2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1698-1703
Yu, Yun; Yang, Shuo; Wang, Mingxi; Li, Cheng; Li, Zexiang
Precise Quadrotor Autonomous Landing with SRUKF Vision Perception
2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2196-2201
Yang, Shuo; Ying, Jiahang; Lu, Yang; Li, Zexiang


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Article 3

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
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
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

Conference paper 4

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
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
On-board inertial-assisted visual odometer on an embedded system
2014 IEEE International Conference on Robotics and Automation (ICRA), September 2014, article number 6907232, p. 2602-2608
Zhou, Guyue; Li, Zexiang; Ye, Jiaxin; Ren, Wei; Wang, Tao
Survey of Robotic Manipulator Workspace
Proceedings of the 33rd Chinese Control Conference, CCC 2014, November 2014, article number 6896432, p. 8530-8535
Yang, Xiansheng; Lou, Yunjiang; Li, Zexiang; Chen, Haoyao


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Article 4

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
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
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
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

Conference paper 5

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
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
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
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
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


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Article 4

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
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
H ∞ robust control of a linear motor actuated parallel XY stage
Advanced Science Letters, v. 15, Issue 1, August 2012, Pages 469-474
Lou, Yunjiang; Shang, Zhaoqi; Huang, Ruining; Li, Zexiang
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

Conference paper 5

A Geometric Theory of Robotics and Beyond
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012
Li, Zexiang
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
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
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
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


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Article 4

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
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
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
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

Conference paper 10

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
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
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.
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
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
Kinematics analysis of non-orthogonal 5-axis machine tools
Advanced materials research, v. 317, 2011, p. 1826-1831
Zhouyang, H.; Li, J.; Li, Zexiang
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
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
Spring force compensation for bond head
Advanced materials research, v. 317, 2011, p. 1711-1716
Zhou, L.; Li, J.; Li, Zexiang
Type synthesis and kinematic analysis of a new class Sch?nflies motion parallel manipulator
2011 IEEE International Conference on Information and Automation, ICIA 2011, 2011, p. 267-272
Li, Zexiang; Lou, Y.


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Article 4

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
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
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
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

Conference paper 13

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
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
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.
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.
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
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
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
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.
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
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
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.
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
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


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Article 6

Accuracy Analysis of Parallel Manipulators With Joint Clearance
Journal of Mechanical Design, v. 131, (1), January 2009, Pages 011
Meng, Jian; Zhang, Dongjun; Li, Zexiang
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
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
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
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
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

Conference paper 5

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
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
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
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
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


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Article 7

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
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
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
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
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
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
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

Conference paper 11

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
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
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
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
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
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
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
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
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
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
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


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Article 7

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
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
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
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
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
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
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

Conference paper 11

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
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
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
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
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
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
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
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
Improving the transparency of teleoperating system
2006 Chinese Control Conference Proceedings, CCC 2006, 2007, p. 861-866
Deng, QiWen; Wei, Qing; Li, Zexiang
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
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


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Article 1

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

Conference paper 6

A novel 3-DoF purely translational parallel mechanism
IEEE International Conference on Intelligent Robots and Systems, 2006, p. 2144-2149
Lou, Yunjiang; Li, Zexiang
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
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
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
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
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


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Article 1

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

Book 1

Applied Motion Control
Electronic Science Press, China
Cong, Shuang; Li, Zexiang

Conference paper 10

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
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
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
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
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
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
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
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
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
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


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Article 7

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
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
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
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
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
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
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

Conference paper 3

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
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
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


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Article 5

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
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
On the discrete symmetric localization problem
International journal of machine tools & manufacture, v. 43, (9), 2003, JUL, p. 863-870
Xiong, Zhenhua; Li, Zexiang
Probe radius compensation of workpiece localization
Journal of Manufacturing Science and Engineering, v. 125, (1), 2003, FEB, p. 100-104
Xiong, Zhenhua; Li, Zexiang
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

Conference paper 15

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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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


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Article 4

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
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
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
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

Conference paper 6

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
Control of parallel mechanisms-A geometric approach
Proceedings of the American Control Conference, v. 6, 2002, p. 4720-4725
Yiu, Yiu Kuen; Li, Zexiang
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
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
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
On the discrete symmetric localization problem
Proceedings - IEEE International Conference on Robotics and Automation, v. 4, 2002, p. 4161-4166
Xiong, Zhenhua; Li, Zexiang


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


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Article 12

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
Coordinated motion generation for multifingered manipulation with rolling contacts
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (2), 2000, p. 85-90
Qin, Zhiqiang; Li, Zexiang
Coordinated motion generation for multifingered manipulation with rolling contacts
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, v. 34, (10), 2000, October, p. 1355-1360
Qin, Zhiqiang; Li, Zexiang; Zhao, Xifang
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
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
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
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
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
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
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
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
滚动接触约束下机器人多指操作的协调运动规划
上海交通大學學報, v. 34, (10), 2000, p. 1355-1360
秦志強; 李澤湘; 趙錫芳

Conference paper 2

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
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


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Article 6

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
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
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
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
On the hybrid localization/envelopment problem
v. 18, (5), 1999, May, p. 491-501
Chu, Yunxian; Gou, Jianbo; Li, Zexiang
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

Conference paper 4

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
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
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
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


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Article 4

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
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
Hybrid position/force manipulation of multifingered hand
Chinese Journal of Aeronautics, v. 11, (2), 1998, p. 143-151
Guan, Yisheng; Zhang, Qixian; Li, Zexiang
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

Conference paper 7

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
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
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
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
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
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
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


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Conference paper 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
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
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.
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
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


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Article 1

Control of seismic-excited buildings using active variable stiffness systems
Engineering Structures, v. 18, 1996, p. 589-596
Yang, Jann; Wu, Jongcheng; Li, Zexiang

Conference paper 3

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


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Article 6

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
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
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.
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
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
Stochastic hybrid control of hysteretic structures
Probabilistic Engineering Mechanics, v. 9, (1-2), 1994, p. 125-133
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan

Book 1

A Mathmematical Introduction to Robotic Manipulation
A Mathmematical Introduction to Robotic Manipulation. CRC Press / January 2017, 519 pages
Murray, Richard M.; Li, Zexiang; Shankar Sastry, S.

Conference paper 2

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
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


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Conference paper 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


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Article 5

Aseismic hybrid control of nonlinear and hysteretic structures I

Yang, Jann; Li, Zexiang; Danielians, A.; Liu, Shihchi
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
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
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
Stable controllers for instantaneous optimal control
Journal of Engineering Mechanics, v. 118, (8), 1992, Aug, P.1612-1630
Yang,Jann; Li,Zexiang; Liu, Shihchi

Book 1

Nonholonomic Motion Planning
Nonholonomic Motion Planning / Kluwer Academic Publishers, 1992, 445 pages
Li, Zexiang; Canny, J.

Book chapter 2

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
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

Conference paper 2

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
Structural control under stochastic seismic loads
Proceedings of Engineering Mechanics, 1992, p. 828-831
Yang, Jann; Li, Zexiang; Vongchavalitkul, Sanguan


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Book chapter 2

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
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.

Conference paper 2

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
Optimal nonholonomic motion planning
IEEE ICRA'91, Sacramento, CA., 1991, p. 680-685
Fernandes, C.; Gurvits, L.; Li, Zexiang


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Article 2

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

Conference paper 2

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
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


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Article 1

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.

Book chapter 2

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.
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.

Conference paper 3

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.
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
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.


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Article 1

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.

Conference paper 3

Dynamic control of a multiple robotic system
1988 American Control Conference, 1988
Li, Zexiang; Hsu, P.; Sastry, S.
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.
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.


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Article 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.


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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
The 2016 International Symposium on VLSI Technology, Systems and Applications (2016 VLSI-TSA), Hsinchu,Taiwan, April 25-27, 2016
Li, Zexiang Conference paper
For Your Eyes Only? UAV and DJI
2016 International Symposium on VLSI Design, Automation and Test (VLSI-DAT), 2016
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), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1698-1703
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), Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2196-2201
Yang, Shuo; Ying, Jiahang; Lu, Yang; Li, Zexiang Conference paper

2014 7

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
On-board inertial-assisted visual odometer on an embedded system
2014 IEEE International Conference on Robotics and Automation (ICRA), September 2014, article number 6907232, p. 2602-2608
Zhou, Guyue; Li, Zexiang; Ye, Jiaxin; Ren, Wei; Wang, Tao Conference paper
Survey of Robotic Manipulator Workspace
Proceedings of the 33rd Chinese Control Conference, CCC 2014, November 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, Issue 1, August 2012, Pages 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 Sch?nflies 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 011
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
Electronic Science Press, China
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
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 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 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 14

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
Coordinated motion generation for multifingered manipulation with rolling contacts
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, v. 36, (2), 2000, p. 85-90
Qin, Zhiqiang; Li, Zexiang Article
Coordinated motion generation for multifingered manipulation with rolling contacts
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, v. 34, (10), 2000, October, p. 1355-1360
Qin, Zhiqiang; Li, Zexiang; Zhao, Xifang 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
滚动接触约束下机器人多指操作的协调运动规划
上海交通大學學報, v. 34, (10), 2000, p. 1355-1360
秦志強; 李澤湘; 趙錫芳 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
A Mathmematical Introduction to Robotic Manipulation. CRC Press / January 2017, 519 pages
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
Nonholonomic Motion Planning / Kluwer Academic Publishers, 1992, 445 pages
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


No Publications


No Publications






Research Postgraduate (RPG) Supervision From January 2019 to December 2022 (As of 30 January 2022)

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All Supervisions Current RPGs Graduated RPGs

---

Current RPGs

---

Doctor of Philosophy LI, Meng
Electronic and Computer Engineering( 2016 - )

---

Master of Philosophy LI, Longchang (co-supervision)
Individualized Interdisciplinary Program( 2021 - )

LIAO, Xuanhong (co-supervision)
Electronic and Computer Engineering( 2020 - )

XUAN, Junpeng (co-supervision)
Individualized Interdisciplinary Program( 2019 - )

YANG, Yihao (co-supervision)
Individualized Interdisciplinary Program( 2019 - )

CHENG, Xuran
Electronic and Computer Engineering( 2018 - )

---

Graduated RPGs

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Doctor of Philosophy GU, Haowei
Electronic and Computer Engineering( Completed in 2019 )

LYU, He
Electronic and Computer Engineering( Completed in 2019 )

LYU, Ximin
Electronic and Computer Engineering( Completed in 2019 )

ZHOU, Jinni
Electronic and Computer Engineering( Completed in 2019 )

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Master of Philosophy CAI, Xiaoyu
Electronic and Computer Engineering( Completed in 2021 )

WANG, Qian (co-supervision)
Individualized Interdisciplinary Program( Completed in 2021 )

CHEUNG, Ngai
Technology Leadership and Entrepreneurship( Completed in 2020 )

LUO, Ziyun
Electronic and Computer Engineering( Completed in 2020 )

LEI, Yu
Electronic and Computer Engineering( Completed in 2019 )

LYU, Yetao
Electronic and Computer Engineering( Completed in 2019 )

ZHANG, Zhipeng
Electronic and Computer Engineering( Completed in 2019 )









ProjectsFrom January 2020 to December 2022

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All Projects 4 Leading Projects 3 Participating Projects 1

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Hong Kong Center of AI, Robotics and Electronics (HK CARE) for Prefabricated Construction


N/A Leading


Innovation and Technology Fund


Project Team (HKUST)
LI Zexiang (Lead)
CHEN Kevin Jing
CHEN Lei
CHEN Qifeng
CHENG Jack Chin Pang
CHENG Tim Kwang-Ting
FAN Zhiyong
LEE Yi-Kuen
LEUNG Winnie Suk Wai
LIU Ming
QIU Li
QUAN Long
SEO Jungwon
SHEN Shaojie
WANG Michael Yu
WANG Yang
ZHANG Qian


2020 -




Automatic Workpiece Setup and Localization System for Unmanned Mold Manufacturing


無人化模具製造中自動化工件抓夾定位系統研究 Leading


Analog Devices Inc., Innovation and Technology Fund


Project Team (HKUST)
LI Zexiang (Lead)


2018 - 2020




The unmanned workpiece localization technology in part manufacturing industry


工件製造中自動化工件定位系統研究 Participating


RGC - General Research Fund


Project Team (HKUST)
WANG Michael Yu (Lead)
LI Zexiang


2017 - 2020




Motion control and robotic control


工業機器人控制體系結構研究 Leading


QKM Technology (Dong Guan) Co., Ltd


Project Team (HKUST)
LI Zexiang (Lead)


2015 -