Xiangming Cheng
Papers
1
Total Citations
2
H-Index
1
About
Dr. Xiangming Cheng is a robotics engineer specializing in underwater manipulation and kinematic modeling. His research focuses on developing precise control solutions for robotic arms operating in challenging aquatic environments. His most cited work, "Closed form inverse kinematics solution for 6-DOF underwater manipulator" (2015), presents a novel analytical approach to solving the inverse kinematics problem for a modified PUMA560-style manipulator designed for underwater pool operations. This contribution is critical for enabling accurate positioning and trajectory planning in subsea applications, where traditional numerical methods may be computationally intensive. While his citation count is modest, the work addresses a fundamental challenge in marine robotics—providing a closed-form solution that enhances real-time control efficiency. Dr. Cheng’s research bridges theoretical kinematics with practical underwater deployment, supporting advancements in autonomous underwater vehicles and remote-operated systems. His efforts contribute to the growing field of marine robotics, where precise manipulation is essential for tasks such as sample collection, infrastructure inspection, and environmental monitoring.
Research Focus
Key Achievements
Top Papers
- 1Closed form inverse kinematics solution for 6-DOF underwater manipulator2 citations · 2015