Papers
7
Total Citations
93
H-Index
4
About
Ser Yong Lim is a robotics researcher whose work spans advanced control theory for robotic manipulators, with particular expertise in adaptive control, operational space frameworks, and flexible-joint robot systems. His most influential contribution, an adaptive link position tracking controller for rigid-link flexible-joint robots (1997, 55 citations), addressed a fundamental challenge in robot control by compensating for parametric uncertainty across entire mechanical systems while requiring only position measurements — eliminating the need for velocity sensing. This work remains a significant reference in the field of underactuated and flexible robot control. Lim has also made sustained contributions to operational space control, exploring multi-rate hybrid motion and force control strategies and analyzing performance degradation under model uncertainties and discretization effects. His observer-based controllers for trajectory tracking without velocity measurements demonstrate a consistent focus on practical, implementable solutions for real-world robotic systems. His 1999 work on dynamics identification for industrial robots further reflects his applied orientation. Spanning over a decade of research, Lim's body of work bridges theoretical rigor with engineering practicality, offering students and practitioners valuable frameworks for tackling robustness, redundancy, and real-time control challenges in modern robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Dynamics Identification and Control of an Industrial Robot11 citations · 1999
- 4An Operational Space Observer-Controller for Trajectory Tracking6 citations · 2003
- 5An analysis of the operational space control of robots4 citations · 2010
- 6Implementation of an output feedback controller in operational space3 citations · 2004
- 7Job-agents: How to coordinate them?2 citations · 2007