助理教授 系统设计与智能制造学院

吴元庆教授于2019年5月正式加入南方科技大学新成立的系统设计与智能制造学院(SDIM),任助理教授。于2009年获得上海交通大学机械工程与动力工程学院机电一体化专业博士学位。2009年至2014年间,就职于香港科技大学电子与计算机工程学系,先后担任研究助理及副研究员。2014年至2019年间,就职于意大利博洛尼亚大学工业工程系,担任研究员。

个人简介

吴元庆博士于2019年5月正式加入南方科技大学新成立的系统设计与智能制造学院(SDIM),任助理教授,负责机电一体化实验室组建。吴元庆于2009年获得上海交通大学机械工程与动力工程学院机电一体化专业博士学位。2009年至2014年间,就职于香港科技大学电子与计算机工程学系,先后担任研究助理及副研究员。2014年至2019年间,就职于意大利博洛尼亚大学工业工程系,担任研究员。

吴元庆教授的研究方向和兴趣包括基于现代微分几何的运动几何学及机构学理论,并联机器人,机器人动力学及控制,机器人标定、几何代数计算等。至今共发表学术论文30余篇,在国际机器人顶级期刊IEEE Transactions on Robotics上发表长文三篇。

研究领域

基于现代微分几何的运动几何学及机构学理论,并联机器人,机器人动力学及控制,机器人标定、几何代数计算等


学术成果 查看更多

Journal publications

[1] Yuanqing Wu, and Marco Carricato, “Line Symmetric Motion Generators”, Mechanism and Machine Theory 127 (2018): 112-125, DOI: 10.1016/j.mechmachtheory.2018.05.007.

[2] Yuanqing Wu, and Marco Carricato, “Workspace Optimization of a Class of Zero-Torsion Parallel Wrists”, Robotica (2018): 1-16, DOI: 10.1017/S0263574718000413.

[3] Yuanqing Wu, and Marco Carricato, “Symmetric subspace motion generators”, IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 34.3 (2018): 716-735, DOI: 10.1109/TRO.2018.2813377.

[4] Yuanqing Wu, and Marco Carricato, “Synthesis and Singularity Analysis of N-UU Parallel Wrists: a Symmetric Space Approach”, ASME Journal of Mechanisms and Robotics (2017), DOI: 10.1115/1.4037547.

[5] Yajue Yang, Yuanqing Wu, and Jia Pan, “Unified GPU-Parallelizable Robot Forward Dynamics Computation using Band-Sparsity”, IEEE Robotics and Automation Letters (2017), DOI: 10.1109/LRA.2017.2735479.

[6] Yajue Yang, Yuanqing Wu, and Jia Pan, “Parallel dynamics computation using prefix sum operations”, IEEE Robotics and Automation Letters 2.3 (2017): 1296-1303, DOI: 10.1109/LRA.2017.2666544.

[7] Yuanqing Wu, and Marco Carricato. “Identification and Geometric Characterization of Lie Triple Screw Systems and Their Exponential Images”, Mechanism and Machine Theory 107 (2017): 305-323, DOI: 10.1016/j.mechmachtheory.2016.09.020.

[8] Cheng Li, Yuanqing Wu, Harald Löwe, and Zexiang Li. “POE-based Robot Kinematic Calibration Using Axis Configuration Space and Adjoint Error Model”, IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 32.5 (2016): 1264-1279, DOI: 10.1109/TRO.2016.2593042.

[9] Harald Löwe, Yuanqing Wu, and Marco Carricato. “Symmetric subspaces of SE(3).”Advances in Geometry 16.3 (2016): 381-388, DOI: 10.1515/advgeom-2016-0015.

[10] Yuanqing Wu, Harald Löwe, Marco Carricato, and Zexiang Li. “Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics.” IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 32.2 (2016): 312-326, DOI: 10.1109/TRO.2016.2522442.

[11] Yuanqing Wu, Hong Wang, and Zexiang Li. “Quotient Kinematic Machine: Concept, Analysis and Synthesis”, ASME Journal of Mechanisms and Robotics, vol. 3, pp. 041004-1 – 041004-11, 2011, DOI: 10.1115/1.4004891.

[12] Yuanqing Wu, and Han Ding. “Equivalence relation and partial ordering of parallel mechanisms with applications to mechanism synthesis and mobility analysis”, Chinese Science Bulletin 55 (16), pp. 1679-1687, 2010, DOI: 10.1007/s11434-009-3683-5.

Conference publications

[1] Wu, Yuanqing, and Marco Carricato. “Line Symmetric Motion Generators”, Advances in Robot Kinematics. Springer, Bologna, Italy, 2018.

[2] Wu, Yuanqing, and Marco Carricato. “Optimal Design of N-UU Parallel Mechanisms.”, Computational Kinematics. Springer, Cham, 2018. 394-402. DOI: 10.1007/978-3-319-60867-9_45

[3] Selig, J. M., Yuanqing Wu, and Marco Carricato. “Motion Interpolation in Lie Subgroups and Symmetric Subspaces.”, Computational Kinematics. Springer, Cham, 2018. 467-474. DOI: 10.1007/978-3-319-60867-9_53

[4] Yajue Yang, Yuanqing Wu, and Jia Pan, “Parallel Dynamics Computation using Prefix Sum Operations”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

[5] Yuanqing Wu, Andreas Müller, and Marco Carricato, “The 2D Orientation Interpolation Problem: A Symmetric Space Approach”, Proceedings of the 15th Conference on Advances in Robot Kinematics (ARK), Grasse, France, June. 27–30, 2016. DOI: 10.1007/978-3-319-56802-7_31

[6] Yuanqing Wu, and Marco Carricato, “Design of a Novel 3-DoF Serial-Parallel Robotic Wrist: A Symmetric Space Approach”, Proceedings of the International Symposium of Robotics Research (ISRR), Sestri Levante, Italy, Sept. 12–15, 2015. DOI: 10.1007/978-3-319-51532-8_24

[7] Yuanqing Wu, and Marco Carricato, “Identification and Geometric Characterization of Lie Triple Screw Systems”, 14th IFToMM World Congress, Tapei Taiwan, Oct. 25–30, 2015. DOI: 10.6567/IFToMM.14TH.WC.OS2.005

[8] Cheng Li, Yuanqing Wu, and Zexiang Li, “Identifiability and improvement of Adjoint error approach for serial robot calibration”, IEEE International Conference on Robotics and Automation (ICRA), 2014. DOI: 10.1109/ICRA.2014.6907029

[9] Yuanqing Wu, Cheng Li, Jing Li, and Zexiang Li, “Comparative study of robot kinematic calibration algorithms using a unified geometric framework”, IEEE International Conference on Robotics and Automation (ICRA), 2014. DOI: 10.1109/ICRA.2014.6907034

[10] Cheng Li, Yuanqing Wu, Jiachun Wu, Weiyi Shi, Dan Dai, Jinbo Shi, and Zexiang Li,“Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2013. DOI: 10.1109/IROS.2013.6696466

[11] Yuanqing Wu, Guanfeng Liu, Harald Löwe, and Zexiang Li. “Exponential submanifolds: A new kinematic model for mechanism analysis and synthesis”, IEEE International Conference on Robotics and Automation (ICRA), 2013. DOI: 10.1109/ICRA.2013.6631167

[12] Jinbo Shi, Zexiang Li, Yuanqing Wu, “A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators’ Accuracy”, IEEE International Conference on Robotics and Automation (ICRA), 2011. DOI: 10.1109/ICRA.2011.5979809

[13] Yuanqing Wu, Zexiang Li, and Jinbo Shi, “Geometric Properties of Zero-Torsion Parallel Kinematics Machines”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2010. DOI: 10.1109/IROS.2010.5649739

[14] Yuanqing Wu, Hong Wang, Zexiang Li, Yunjiang Lou, and Jinbo Shi. “Quotient kinematics machines: Concept, analysis and synthesis”, IEEE International Conference on Robotics and Automation (ICRA), 2010. DOI: 10.1109/ROBOT.2010.5509505

[15] Yunjiang Lou, Tieniu Chen, Yuanqing Wu, Zhibin Li, and Shilong Jiang, “Improved and modified geometric formulation of POE based kinematic calibration of serial robots”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2009. DOI: 10.1109/IROS.2009.5354219

[16] Yuanqing Wu, Zexiang Li, Han Ding, and Yunjiang Lou “Quotient kinematics machines: Concept, analysis and synthesis”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2008. DOI: 10.1109/IROS.2008.4650782

[17] Selig J.M., Yuanqing Wu, “Interpolated Rigid-Body Motions and Robotics”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2006. DOI: 10.1109/IROS.2006.281815

[18] Yuanqing Wu, Han Ding, Jian Meng, and Zexiang Li, “Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2006. DOI: 10.1109/IROS.2006.282601

[19] Yuanqing Wu, Han Ding, Jian Meng, and Zexiang Li, “Lie Theoretical Approach to Synthesizing T(3) Parallel Kinematic Manipulators”, IEEERSJ International Conference on Intelligent Robots and Systems (IROS), 2005. DOI: 10.1109/IROS.2005.1545145

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