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About

Xiaojun Lin is a robotics researcher specializing in the kinematics and motion planning of industrial robots, with a particular focus on achieving smooth, continuous trajectories for both joint motion and end-effector orientation. His major contributions lie in developing advanced interpolation techniques that overcome the limitations of traditional polynomial and quaternion-based methods. Notably, Lin has introduced modified cubic Hermite and hybrid polynomial interpolations to ensure C² continuity (smooth acceleration) in joint-space planning under velocity constraints, addressing critical issues like discontinuous acceleration and velocity fluctuation. For orientation planning, he pioneered the use of logarithmic quaternion mappings to create Hermite and B-spline curves that guarantee C² continuity in Cartesian space, preventing violent shocks that degrade robot performance and service life. His most cited works (2020–2022) each garnered 8–11 citations, reflecting growing interest in practical, high-quality motion solutions. By solving the trade-off between smoothness and constraint satisfaction, Lin’s research directly enhances the working quality and longevity of industrial robots, making his work essential for engineers designing precise, reliable automation systems.