Chii Ruey Lin

National Taipei University of Technology

Papers

Total Citations

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About

Chii Ruey Lin is a robotics researcher whose work focuses on the kinematic control and motion planning of redundant robotic systems. His key research areas include singularity avoidance, fuzzy logic-based motion planning, and inverse kinematics for redundant manipulators. Lin’s major contribution lies in addressing the critical challenge of singularities in robotic arms—configurations where a robot loses degrees of freedom and control. While the widely used Moore-Penrose pseudo-inverse method often fails in such scenarios, Lin proposed a fuzzy motion planning approach that enables smoother, more reliable trajectory tracking even near singular points. His 2013 paper on this topic, though with 4 citations, represents a foundational effort in integrating fuzzy logic with kinematic redundancy resolution. This work is particularly notable for its practical orientation, aiming to design robots that can meet specific task requirements while avoiding control failures. Lin’s research contributes to the broader field of intelligent robotics, offering insights that could enhance the autonomy and safety of robotic systems in manufacturing and other applications.