Songguo Liu

About

Songguo Liu is a robotics researcher whose work centers on robot kinematics, motion control, and intelligent trajectory planning for industrial and humanoid robotic systems. His most significant contributions lie in solving the inverse kinematics problem for general 6R robots — a computationally demanding challenge critical to real-time robot control. His 2007 Matlab-based simulation study of the QJ-6R welding robot (14 citations) established a foundation for practical kinematic analysis, while subsequent papers introduced optimized, real-time inverse kinematics algorithms exploiting the orthogonal properties of rotation sub-matrices, streamlining computation for online control applications. Beyond kinematics, Liu has made notable contributions to robust control design. His adaptive PID controller with H∞ tracking performance addresses nonlinear uncertainties and disturbances in robot manipulators, and his robust adaptive wavelet network controller demonstrates a forward-looking integration of neural computation with classical control theory. His 2009 work on B-spline-based joint trajectory planning for humanoid robots reflects a commitment to smooth, stable locomotion. Later research expanded into dynamic modeling using screw theory combined with sliding mode control. Across his portfolio, Liu's work has accumulated over 60 citations, reflecting meaningful influence on robotics engineering and control systems research.

Research Focus

Key Achievements

Top Papers

1. 1
   Kinematics analysis and simulation of QJ-6R welding robot based on Matlab

   14 citations · 2007
2. 2
   Real-time and High-accurate Inverse Kinematics Algorithm for General 6R Robots Based on Matrix Decomposition

   13 citations · 2008
3. 3
   Adaptive PID control of robot manipulators with H<inf>∞</inf> tracking performance

   9 citations · 2009
4. 4
   Inverse Kinematics of 6R Robots Based on the Orthogonal Character of Rotation Sub-matrix

   7 citations · 2008
5. 5
   An Optimized Real Time Algorithm for the Inverse Kinematics of General 6R Robots

   6 citations · 2007
6. 6
   Smooth joint trajectory planning for humanoid robots based on B-splines

   6 citations · 2009
7. 7
   Adaptive PID control of robot manipulators with H_∞ tracking performance

   5 citations · 2009
8. 8
   DYNAMIC MODELLING USING SCREW THEORY AND NONLINEAR SLIDING MODE CONTROL OF SERIAL ROBOT

   3 citations · 2016
9. 9
   Robust Adaptive Wavelet Network Control for Robot Manipulators

   3 citations · 2009

Key Collaborators

Contact & Links