Xiaohang Yang’s research while affiliated with Harbin Institute of Technology and other places

... For operations, existing works tend to focus on specific tasks. For instance, Robot Air Hockey [32] is employed for Sim2Real applications in playing air hockey, while Panda MuJoCo Gym [33] benchmarks RL tasks such as pushing, sliding, and object manipulation. A Unity-based Simulator [34] creates game-like scenarios for experimental manipulation for educational purposes. ...

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Chemistry3D: Robotic Interaction Benchmark for Chemistry Experiments

... This strategy is designed to handle all types of uncertainties and external disturbances that may arise in the system dynamics. This work is compared to existing works in the same area, as referenced in [24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39]. The suggested research aims to address complex non-linear control issues with fewer assumptions compared to the existing literature. ...

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Robust Control Based on Adaptative Fuzzy Control of Double-Star Permanent Synchronous Motor Supplied by PWM Inverters for Electric Propulsion of Ships

... Many papers used an iterative IK method with an approximate closed-form solution as a starting point: Wang, Zhao, Wang, Zhang, Li and Liu (2021) for an R-2R-R-3R arm, and Ma, Xie, Jiang and Liu (2021) for a 2R-3R||-2R arm. (Zhao, Yang, Zhao, Yang and Zhao 2023) also found an iterative solution for an 2R-3R||-2R. The paper states closed-form IK is not possible when using SEW angle. ...

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Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators

... To enhance the adaptability of a single SSRMS-type manipulator in complex on-orbit tasks, a novel SSRMS-type reconfigurable manipulator with two LPTLs has been proposed. 5 This reconfigurable manipulator retains the advantages of the traditional SSRMS-type manipulator while introducing reconfigurability. It is worth noting that the SSRMS-type reconfigurable manipulator utilizes a novel reconfiguration manner, wherein the required configuration change is achieved by altering the length of the two LPTLs without detaching any links or joints. ...

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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

... Besides the geometric methods [4][5][6][7][8] and the intelligent algorithms [9][10][11] , the IK problem is generally considered as an optimization problem 3 to benefit the advantages of redundant DOFs while avoiding the constraints on each of the joint actuators, i.e., the angular position limit, maximum velocity and acceleration. However, the optimization in real time presents challenges due to the computation complexity of the IK problem under the actuator constraints. ...

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Real-time optimized inverse kinematics of redundant robots under inequality constraints

... Furthermore, the solution rate is significantly affected by the pre-set value of the parameterized arm angle [26] or joint angle [5,27]. To handle the dependence of the JAP method on the pre-set value of the parameterized joint angle, Zhao et al. [28] performed an exploration of the CCD and the JAP methods jointly to solve the IK problem. ...

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Inverse kinematics and workspace analysis of a novel SSRMS-type reconfigurable space manipulator with two lockable passive telescopic links