研究领域

• 任务规划、导航与控制、空间机器人

论文成果

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• .An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists:Communications in Nonlinear Science and Numerical Simulation,2023
• .An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist:MACHINES,2023
• .Analysis and Design of a Novel Doubly Salient PM Motor Based on Parallel Path Magnetic Technology:IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING,2023
• .Inverse kinematic formula for a new class of 6R robotic arms with simple constraints:Mechanism and Machine Theory,2023
• .An innovative joint-space explicit dynamics symbolic computation model for closed-chain mechanisms:Applied Mathematical Modelling,2022
• .A Novel PM-Electromagnet Brake Embedded With Rolling Balls:IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION,2022
• .Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators:Applied Mathematical Modelling,2022
• .An innovative joint-space dynamic theory for rigid multi-axis system - part II: Canonical dynamic equations:Applied Mathematical Modelling,2022
• .An innovative joint-space dynamic theory for rigid multi-axis system-Part Ⅰ: Fundamental principles:Applied Mathematical Modelling,2022
• .Point-to-point trajectory planning for space robots based on jerk constraints:REVIEW OF SCIENTIFIC INSTRUMENTS,2021

专利

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著作成果

• ,多轴系统动力学建模与控制[教材],北京理工大学出版社,2023
• 居鹤华,运动链符号演算与自主行为控制论[专著],华中科技大学出版社,2022

科研项目

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