| Name : |
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Guilin, Yang, Dr
(glyang@SIMTech.a-star.edu.sg)
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| Designation : |
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| Position : |
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Research Scientist |
| Group/Programme : |
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Mechatronics Group
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| Academic Qualifications : |
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PhD, MEng, BEng |
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Micro-machining and micro-manipulation, computational kinematics and dynamics, parallel kinematic machines, mechatronic systems, modular robotics and reconfigurable automation
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Industry experience:
Factory automation, automotive engineering, and engineering machinery;
Research/industry programmes supported: micro-manipulation
Recent research projects:
(1) Research on wireless tele-presence manipulation with wearable haptic device
(2) Development of micro-positioning parallel platform for miniature parts handling and assembly
(3) A rapidly reconfigurable RISC modular workcell
Recent industry projects:
(1) Development of Manipulator Arm Motion Control Software (2002)
(2) A Multi-Axis Reconfigurable Robotic System for the Fabrication of Tissue
Scaffolds with Complex Topologies (2001)
(3) Development of a Lightweight, Self-Contained, 4-DOF Manipulator (2000)
Patents:
1. Comb-shearing Machine Tool for Reinforced Bar Cutting, Patent No. ZL92201330.6 (China Patent)
2. Automatic Orientating Platform for Tunnel Construction, Patent No. ZL95216507.4 (China Patent)
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Certificate for the final list of the best paper award in ICARCV 2000 conference
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Patents:
1. Comb-shearing Machine Tool for Reinforced Bar Cutting, Patent No. ZL92201330.6 (China Patent)
2. Automatic Orientating Platform for Tunnel Construction, Patent No. ZL95216507.4 (China Patent)
Journal Papers:
1. G. Yang, I-M. Chen, S.H. Yeo, and W.K. Lim, "Simultaneous Base and Tool Calibration for Self-calibrated Parallel Robots", Robotica, pp 367-374, 20, 2002
2. I-M. Chen, G. Yang, W.K. Lim, and S.H. Yeo, "Self-calibration of Three-legged Modular Reconfigurable Parallel Robots Based on Measurement residues", Electronic Journal of Computational Kinematics, Vol 1 (1), pp 117-132, 2002
3. G. Yang, I-M. Chen, W. Lin, and J. Angeles, "Singularity Analysis of Three-legged Parallel Robots Based on Passive Joint Velocities", IEEE Transaction on Robotics and Automation, pp 413-422, Vol 17 (4), 2001
4. I-M. Chen, G. Yang, C.T. Tan, S.H. Yeo, "A Local POE model for Robot Kinematic Calibration", Mechanism and Machine Theory, pp 1215-1239, Vol 36, 2001
5. G. Yang, I-M. Chen, W.K. Lim, and S.H. Yeo, "Self-calibration of Three-legged Modular Reconfigurable Parallel Robots Based on Leg-end Distance Errors", Robotica, pp 187-198, 19, 2001
6. G. Yang, I-M. Chen, W.K. Lim, and S.H. Yeo, "Kinematic Design of Modular Reconfigurable In-parallel Robots", Autonomous Robots, pp 83-89, 10, 2001
7. G. Yang and I-M. Chen, "Task-based Optimization of Modular Robot Configurations: Minimized Degree-of-freedom Approach", Mechanism and Machine Theory, pp 517 - 540, 35, 2000
Conference Papers:
1. G. Yang, W. Chen, and H.L. Ho, "Design and Kinematic Analysis of a Modular Hybrid Parallel Serial Manipulator", In proceedings of International conference on control, automation, robotics, and vision, Singapore, December 2002
2. W. Chen, G. Yang, and K.M. Goh, "Kinematic Control for Fault-Tolerant Modular Robots Based on Joint Angle Increment Redistribution", In proceedings of International conference on control, automation, robotics, and vision, Singapore, December 2002
3. A.K. Dash, S.H. Yeo, and G. Yang, "Workspace Analysis And Singularity Representation of Three-Legged Parallel Manipulators", In proceedings of International conference on control, automation, robotics, and vision, Singapore, December 2002
4. G. Yang, W. Chen, and I-M. Chen, "A Geometrical Method for the Singularity Analysis of 3-RRR Planar Parallel Robots with Different Actuation Schemes", In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), September 2002, Switzerland, pp 2055-2060
5. A.K. Dash, I-M. Chen, S.H. Yeo, and G. Yang, "Instantaneous Kinematics and Singularity Analysis of Three-legged Parallel Manipulators", In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), October 2001, Hawaii, USA
6. J. Angeles, G. Yang, and I-M. Chen, "The kinematics of Three-legged Platform Manipulators with RRRS Legs and Six Degrees of Freedom", In proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '01), July 2001, Como, Italy
7. A.K. Dash, I-M. Chen, S.H. Yeo, and G. Yang, "Instantaneous Kinematics and Kinematic Control of In-Parallel Robots", In proceedings of Asian Conference on Robotics and Applications (ACRA 2001), Singapore, June 2001, pp 7-12
8. G. Yang, I-M. Chen, W. Lin, and J. Angeles, "Singularity Analysis of Three-legged Parallel Robots Based on Passive Joint Velocities", In proceedings of IEEE International Conference Robotics and Automation, Seoul, Korea, May 2001, pp 2407-2412
9. I-M. Chen, G. Yang, W.K. Lim, and S.H. Yeo, "Self-calibration of Three-legged Modular Reconfigurable Parallel Robots Based on Measurement Residuals", Computational Kinematics Workshop, Korea, May 2001, pp 117-132
10. G. Yang, I-M. Chen, W.K. Lim, and S.H. Yeo, "Simultaneous Base and Tool Calibration of a Self-calibrated Modular Parallel Robot", In proceedings of international conference on control, automation, robotics, and vision, Singapore, 2000 (final list of the best paper award)
11. G. Yang, I-M. Chen, W. Lin, and J. Angeles, "Singularity Analysis of Three-legged Parallel Robots Using the Product-of-exponentials Formula", In proceedings of international conference on control, automation, robotics, and vision, Singapore, 2000
12. W. Chen, I-M. Chen, W.K. Lim, and G. Yang, "Cartesian Co-ordinate Control for Redundant Modular Robots", In Proceedings of the 2000 IEEE International Conference on System, Man, and Cybernetics, Nashville, USA, October 8, 2000, pp 3241-3246
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