Hualiang Zhang — accepted AI-conference papers

2025

A stepwise identification framework for determining the physical feasibility parameters of robot dynamics

Guanghui Liu, Fuyuan Tan, Lijin Fang, Hualiang Zhang, Qiang Li

IROS 2025

This paper introduces a systematic approach to identifying a physically feasible set of robot dynamics parameters. The framework consists of four steps: 1) Identification of robot dynamics parameters using least squares combined with a linear friction model. 2) Construction of a weighting matrix bas

Cited by 0 Source ↗Scholar ↗

2024

An Efficient Linear Programming-Based Time-Optimal Feedrate Planning Considering Kinematic and Dynamics Constraints of Robots

Guanghui Liu, Qiang Li, Bohan Yang, Hualiang Zhang, Lijin Fang

RA-L 2024

This letter investigates the time-optimal trajectory generation for a six-degrees-of-freedom articulated robot moving along a given parametric path. In the generation procedure, besides the velocity, acceleration, and joint torque, the jerk is also constrained to enhance the smoothness of the robot'

Cited by 13 Source ↗Scholar ↗