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About

Yanhui Qiang’s research focuses on the dynamics, control, and trajectory planning of industrial robots, with a particular emphasis on mitigating residual vibrations in flexible-joint systems. His major contributions include developing dynamic models that capture the effects of joint flexibility—a critical factor often overlooked in rigid-link assumptions—and proposing an off-line learning input shaping method that effectively suppresses residual vibrations during repetitive tasks. This work, published in 2012, has garnered 10 citations and demonstrates a practical approach to enhancing robot precision under high-speed, heavy-payload conditions. Qiang also advanced robot motion control by designing a trajectory planning algorithm in joint space that ensures continuous accelerations, improving motion smoothness and reducing mechanical stress. His experimental validation of this method on a DSP-based motion controller, with 3 citations, confirms its real-world applicability. Additionally, he contributed to hardware design with a multi-axis motion controller for welding robots, integrating DSP technology for robust performance. With a total of over 25 citations across his most-cited papers, Qiang’s work bridges theoretical modeling and practical implementation, offering valuable insights for researchers and engineers working on high-performance robotic systems.