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About

Harn-Jou Yeh is a leading figure in the kinematics and workspace analysis of robotic manipulators, with a career dedicated to solving fundamental geometric and computational problems in automation. His primary research areas include swept volume generation, singular configuration analysis, and workspace void characterization. Yeh’s most influential work, “Geometric representation of the swept volume using Jacobian rank-deficiency conditions” (1997, 109 citations), introduced a powerful analytical framework for modeling the volume swept by a moving entity—a critical tool for collision detection and path planning in manufacturing. He further advanced the field by developing a unified formulation linking swept volume and robot workspace analysis, and by providing rigorous methods for identifying voids and crossable singular surfaces in serial manipulator workspaces. His 1997 paper on path trajectory verification directly addressed the practical challenge of robotic singularities in welding, painting, and soldering environments, where configuration changes can halt production. Yeh’s contributions have provided engineers with the mathematical tools to predict and avoid kinematic singularities, ensuring smoother, safer, and more reliable robotic operations in industrial settings.