Z
Zexiang Li
Researcher at Hong Kong University of Science and Technology
Publications - 255
Citations - 10164
Zexiang Li is an academic researcher from Hong Kong University of Science and Technology. The author has contributed to research in topics: Parallel manipulator & Motion control. The author has an hindex of 42, co-authored 251 publications receiving 9664 citations. Previous affiliations of Zexiang Li include University of California, Irvine & George Washington University.
Papers
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Journal ArticleDOI
Dynamics and control of redundantly actuated parallel manipulators
TL;DR: In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.
Proceedings ArticleDOI
Grasp analysis as linear matrix inequality problems
Li Han,Jeff Trinkle,Zexiang Li +2 more
TL;DR: This paper further cast the nonlinear friction cone constraints into linear matrix inequalities (LMIs) and formulate all three of the problems stated above as a set of convex optimization problems involving LMIs.
Journal ArticleDOI
Deadzone compensation in motion control systems using adaptive fuzzy logic control
TL;DR: The adaptive FL deadzone compensator is implemented on an actual industrial CNC machine tool to show its efficacy, and formal nonlinear stability proofs are given to show that the tracking error is small.
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Near-optimal nonholonomic motion planning for a system of coupled rigid bodies
TL;DR: The same principle and algorithm used by a falling cat can be used for space robotic applications, such as reorientation of a satellite using rotors and attitude control of a space structure using internal motion, and other robotic tasks,such as dextrous manipulation with multifingered robotic hands and nonholonomic motion planning for mobile robots.
Journal ArticleDOI
A Novel Contour Error Estimation for Position Loop-Based Cross-Coupled Control
Jiangzhao Yang,Zexiang Li +1 more
TL;DR: A novel approach to contour error calculation of an arbitrary smooth path is proposed in this paper, based on coordinate transformation and circular approximation and incorporated in a position loop-based cross-coupled control structure.