Gye-Hyung Kang

Papers

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About

Dr. Gye-Hyung Kang is a robotics engineer specializing in industrial automation and shipbuilding applications, with a focus on inverse kinematics, portable robotic systems, and robust controller design. His major contributions include developing an iterative algorithm for inverse kinematics of 5-DOF manipulators with offset wrists, which optimizes computational efficiency by minimizing iteration count—critical for real-time control in constrained robot geometries. He also led the creation of a portable welding robot for shipyards, a 6-DOF, 21.5 kg system with a 3 kg payload, constructed from lightweight magnesium and aluminum alloys for human portability. This work addresses the unique challenges of large-scale shipbuilding, where mobility and durability are paramount. Additionally, Dr. Kang designed a robot controller for dusty, noisy shipyard environments, featuring a separated architecture for main and servo control to enhance reliability. His research, while niche, has accumulated over 13 citations across his most-cited papers, reflecting its practical impact on industrial robotics. Notably, his portable welding robot and controller innovations directly support automation in heavy industries, improving worker safety and efficiency. Dr. Kang’s work exemplifies applied robotics, bridging theoretical kinematics with real-world manufacturing solutions.