Department of Mechanical and Production Engineering

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 Department of Mechanical and Production Engineering About the department Sections Mechatronics and Dynamics Research Groups Robotics Publications

Publications

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Madsen, E., Rosenlund, O. S., Brandt, D. & Zhang, X. (2020). Comprehensive modeling and identification of nonlinear joint dynamics for collaborative industrial robot manipulators. Control Engineering Practice, 101, Article 104462. https://doi.org/10.1016/j.conengprac.2020.104462
Madsen, E., Timm, S. A., Ujfalusi, N. A., Rosenlund, O. S., Brandt, D. & Zhang, X. (2020). Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators. Mathematical Problems in Engineering, 2020, Article 8709870. https://doi.org/10.1155/2020/8709870
Meng, F., Hu, Y., Ma, P., Zhang, X. & Li, Z. (2020). Practical control of a cold milling machine using an adaptive PID controller. Applied Sciences (Switzerland), 10(7), Article 2516. https://doi.org/10.3390/app10072516
Si, G., Ding, M., Zhang, Z. & Zhang, X. (2020). Design and Simulation of A Novel Three-Dimensional Multi-Degree-Of-Freedom Electrothermal Microgripper. In 2020 IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 659-664). IEEE. https://doi.org/10.1109/ICMA49215.2020.9233636
Si, G., Chu, M., Zhang, Z., Li, H. & Zhang, X. (2020). Integrating Dynamics into Design and Motion Optimization of a 3-PRR Planar Parallel Manipulator with Discrete Time Transfer Matrix Method. Mathematical Problems in Engineering, 2020, Article 2761508. https://doi.org/10.1155/2020/2761508
Zhang, X. & Hørup, H. (2020). 134-year-old danish family business ready for robots. In J. Bruun (Ed.), Profile 2020 (pp. 20-23). Aarhus Universitet, Institut for Ingeniørvidenskab . http://www.e-pages.dk/aarhusuniversitet/2231/html5/
Zhang, Z., Yu, Y., Song, P., Zhang, Y., Tian, D., Zhang, H., Wei, H., Cui, M., Si, G. & Zhang, X. (2020). Automated manipulation of zebrafish embryos using an electrothermal microgripper. Microsystem Technologies, 26(6), 1823-1834. https://doi.org/10.1007/s00542-019-04728-1
Zhou, Z., Li, L., Wang, R. & Zhang, X. (2020). Experimental Eye-in-hand Calibration for Industrial Mobile Manipulators. In 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (pp. 582-587). Article 9233585 IEEE. https://doi.org/10.1109/ICMA49215.2020.9233585
Cao, H., Wang, R., Wen, X., Zhao, J., Chen, W. & Zhang, X. (2019). A Novel Recognition Algorithm in 3D Point Clouds based on Local Spherical Harmonics. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 1041-1046). Article 8816499 IEEE. https://doi.org/10.1109/ICMA.2019.8816499
Chen, W., Qin, Z. & Zhang, X. (2019). Review on the Development and Applications of Vibration Isolators. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 2126-2131). Article 8816416 IEEE. https://doi.org/10.1109/ICMA.2019.8816416
Chu, M., Si, G., Zhang, X. & Li, H. (2019). Dynamic Modeling of a Planar Parallel Robot Manipulator Using the Discrete Time Transfer Matrix Method. In 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). Article DETC2019-98333, V006T09A019 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2019-98333
Filsoof, O. T., Hansen, M. H., Yde, A., Bøttcher, P. & Zhang, X. (2019). Modal Dynamics of a Three-Bladed Tri-Rotor Wind Turbine. In A. Zingoni (Ed.), Advances in Engineering Materials, Structures and Systems: Innovations, Mechanics and Applications - Proceedings of the 7th International Conference on Structural Engineering, Mechanics and Computation, 2019 (pp. 681-686). CRC Press. https://doi.org/10.1201/9780429426506
Filsoof, O. T., Yde, A. & Zhang, X. (2019). Operational Modal Analysis of a Multi-Rotor Wind Turbine. In Proceedings of the 29th International Ocean and Polar Engineering Conference, ISOPE 2019 (pp. 448-454). International Society of Offshore and Polar Engineers. https://onepetro.org/conference-paper/ISOPE-I-19-698
Madsen, E., Skov Rosenlund, O., Brandt, D. & Zhang, X. (2019). Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator. In 2019 International Conference on Robotics and Automation (ICRA) (pp. 8408-8414). Article 8793935 IEEE. https://doi.org/10.1109/ICRA.2019.8793935
Song, P., Yu, Y. & Zhang, X. (2019). A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation. Robotica, 37(5), 801-836. https://doi.org/10.1017/S0263574718001339
Thomsen, D. K., Søe-Knudsen, R., Brandt, D. & Zhang, X. (2019). Experimental Implementation of Time-Varying Input Shaping on UR Robots. In O. Gusikhin, K. Madani & J. Zaytoon (Eds.), ICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (Vol. 1, pp. 488-498). SCITEPRESS Digital Library. https://doi.org/10.5220/0007834504880498
Thomsen, D. K., Søe-Knudsen, R., Brandt, D., Balling, O. & Zhang, X. (2019). Smooth online time-varying input shaping with fractional delay FIR filtering. Control Engineering Practice, 88, 21-37. https://doi.org/10.1016/j.conengprac.2019.04.003
Wang, H., Gao, G., Xia, Q. & Zhang, X. (2019). Modal Dynamics and Analysis of a Vertical Stretch-Retractable Continuum Manipulator with Large Deflection. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 6258-6264). Article 8794172 IEEE. https://doi.org/10.1109/ICRA.2019.8794172
Wei, H., Su, L., Zhang, H., Yu, Y. & Zhang, X. (2019). A Mechanic Model and Velocity Optimization of Cell Microinjection. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 662-667). Article 8816221 IEEE. https://doi.org/10.1109/ICMA.2019.8816221
Zhang, H., Su, L., Wei, H., Yu, Y. & Zhang, X. (2019). A Novel Auto-Focusing Algorithm for Automated Cell Immobilization. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 656-661). Article 8816338 IEEE. https://doi.org/10.1109/ICMA.2019.8816338
Bærenholdt, M., Wang, L. & Zhang, X. (2018). Concept Design and Dynamic Modelling of a Fibre-Based Continuum Robot for Early Cancer Detection Using DT-TMM. In G. Carbone, M. Ceccarelli & D. Pisla (Eds.), New Trends in Medical and Service Robotics: Advances in Theory and Practice: Proceedings of MESROB 2018 (pp. 158-165). University of Cassino. http://www.larmlaboratory.net/PDF/Preprints_proceedings_MESROB2018.pdf
Chen, W., Wei, L., Yang, X., Guo, J., Zhang, X. & Zhang, X. (2018). Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm. In 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). Article DETC2018-85835 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2018-85835
Filsoof, O. T., Hansen, M., Yde, A. & Zhang, X. (2018). Dynamic Modeling and Stability Analysis of a Dual-Rotor Wind Turbine. In 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics and Control (Vol. 6). Article DETC2018-86142 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2018-86142
Mohammadrezaei Nodeh, S., Soltanshah, M., Hasan Ghasemi, M. & Zhang, X. (2018). Combination of interval Type 2 Fuzzy Logic and High Order Sliding Mode Control for Robotic Manipulators with Parametric Uncertainties and Perturbations. In X. Yan, D. Bradley & P. Moore (Eds.), Reinventing Mechatronics : Proceeding of 16th Mechatronics Forum Biennial International Mechatronics University of Strathclyde.
Song, P., Yu, Y. & Zhang, X. (2018). Impedance Control of Robots: An Overview. In Proceedings - 2017 2nd International Conference on Cybernetics, Robotics and Control, CRC 2017: (CRC) (pp. 51-55). IEEE. https://doi.org/10.1109/CRC.2017.20
Thomsen, D. K., Søe-Knudsen, R., Brandt, D., Balling, O. & Zhang, X. (2018). Generating Vibration Free Rest-to-Rest Trajectories for Configuration Dependent Dynamic Systems via 3-Segmented Input Shaping. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 4361-4366). Article 8460865 IEEE. https://doi.org/10.1109/ICRA.2018.8460865
Tian, D., Zhang, Z., Yu, Y. & Zhang, X. (2018). An Equivalent Line-beam Vibration Model for Frequency Analysis of the V- and Z-shaped Electrothermal Microactuators. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017: (ICARM) (pp. 456-461). IEEE. https://doi.org/10.1109/ICARM.2017.8273206
Zhang, Z., Yu, Y. & Zhang, X. (2018). Experimental Study on the Life and Nonlinear Actuation Behaviors of V-shaped SU-8 Electrothermal Microactuators. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018: ICCA (Vol. 2018, pp. 1052-1057). Article 8444256 IEEE. https://doi.org/10.1109/ICCA.2018.8444256
Zhang, Z., Yu, Y. & Zhang, X. (2018). Experimental Testing and Performance Comparisons between V- and Z-shaped Electrothermal Microactuators. In Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018: ICMA (Vol. 2018, pp. 521-526). Article 8484473 IEEE. https://doi.org/10.1109/ICMA.2018.8484473
Zhang, Z., Yu, Y. & Zhang, X. (2018). Vibration Analysis of U-shaped Beam Electrothermal Microactuators. In Proceedings - 2017 2nd International Conference on Cybernetics, Robotics and Control, CRC 2017: (CRC) (pp. 80-84). IEEE. https://doi.org/10.1109/CRC.2017.16
Zhang, X., Sørensen, R., Iversen, M. R. & Li, H. (2018). Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method. Robotics and Computer-Integrated Manufacturing, 49, 181-193. https://doi.org/10.1016/j.rcim.2017.06.010
Zhang, Y., Yu, Y., Zhang, Z. & Zhang, X. (2018). Structure and Design of Microgrippers: A Survey. In Proceedings - 2017 2nd International Conference on Cybernetics, Robotics and Control, CRC 2017: (CRC) (pp. 139-143). IEEE. https://doi.org/10.1109/CRC.2017.9
Zhang, Z., Yu, Y. & Zhang, X. (2018). Theoretical Modal Analysis and Parameter Study of Z-shaped Electrothermal Microactuators. Microsystem Technologies: Micro- and Nanosystems Information Storage and Processing Systems, 24(7), 3149-3160. https://doi.org/10.1007/s00542
Zhang, Z., Yu, Y. & Zhang, X. (2018). Vibration Modes and Parameter Analysis of V-shaped Electrothermal Microactuators. Shock and Vibration, 2018, Article 1080652. https://doi.org/10.1155/2018/1080652
Zhang, W., Qu, J., Zhang, X. & Liu, X. (2017). A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems with a Single Feedback Loop. IEEE - ASME Transactions on Mechatronics, 22(5), 1973-1982. Article 7961243. https://doi.org/10.1109/TMECH.2017.2721159
Zhang, Z., Zhang, W., Wu, Q., Yu, Y., Liu, X. & Zhang, X. (2017). Closed-form modelling and design analysis of V- and Z-shaped electrothermal microactuators. Journal of Micromechanics and Microengineering, 27(1), Article 015023. https://doi.org/10.1088/1361-6439/27/1/015023
Zhang, Z., Yu, Y., Liu, X. & Zhang, X. (2017). Dynamic Modelling and Analysis of V- and Z-shaped Electrothermal Microactuators. Microsystem Technologies: Micro- and Nanosystems Information Storage and Processing Systems, 23(8), 3775-3789. https://doi.org/10.1007/s00542-016-3180-0
Zhang, Z., Yu, Y. & Zhang, X. (2017). Vibration Analysis of V-shaped Beam Electrothermal Microactuators. In 22nd Design for Manufacturing and the Life Cycle Conference; 11th International Conference on Micro- and Nanosystems: 22nd Design for Manufacturing and the Life Cycle Conference; 11th International Conference on Micro-and Nanosystems (Vol. 4). Article DETC2017-67486 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2017-67486
Li, H. & Zhang, X. (2016). A Method for Modeling Flexible Manipulators: Transfer Matrix Method with Finite Segments. International Journal of Computer, Electrical, Automation, Control and Information Engineering, 10(6), 1052-1059. Article 265. http://waset.org/Publications/a-method-for-modeling-flexible-manipulators-transfer-matrix-method-with-finite-segments/10004613
Zhang, Z., Yu, Y., Liu, X. & Zhang, X. (2016). Dynamic Electro-thermal Modeling of V- and Z-shaped Electrothermal Microactuator. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016: ICMA (pp. 890-895). Article 7558680 IEEE. https://doi.org/10.1109/ICMA.2016.7558680
Zhang, Z., Yu, Y., Liu, X. & Zhang, X. (2016). Electro-Magnetic Nano Positioning. In C. Ru, X. Liu & Y. Sun (Eds.), Nanopositioning Technologies: Fundamentals and Applications (Vol. 90, pp. 151-181). Springer. https://doi.org/10.1007/978-3-319-23853-1_5
Zhang, X., Heide-Jørgensen, S., Næsby Frederiksen, K., Helsinghoff, N., Li, H. & Albertsen, J. (2016). Robotic Tray-Handling in Medical Chewing Gum Production. In Proceedings of the 2nd World Congress on Mechanical, Chemical, and Material Engineering, MCM 2016: MCM'16 (Vol. 2016). Article ICMIE 121 Avestia Publishing. https://doi.org/10.11159/icmie16.121
Foldager, F., Thomsen, D., Li, H., Frederiksen, K., Andersen, A. & Zhang, X. (2015). Electrical-Mechanical Dynamic Modelling and Testing of a Lightweight-Link Robot Manipulator. In Proceedings of the World Congress on Mechanical, Chemical and Material Engineering (MCM 2015): 4th International Conference on Mechanics and Industrial Engineering (ICMIE'15) Article 251 Avestia Publishing. http://avestia.com/MCM2015_Proceedings/files/papers/ICMIE251.pdf
Sørensen, R., Rahbek Iversen, M. & Zhang, X. (2015). Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method. In S. Bai & M. Ceccarelli (Eds.), Recent Advances in Mechanism Design for Robotics, Mechanisms and Machine Science: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics (Vol. 33, pp. 377-386). Springer. https://doi.org/10.1007/978-3-319-18126-4_36
Zhang, Z., Yu, Y., Liu, X. & Zhang, X. (2015). A Comparison Model of V- and Z-shaped Electrothermal Microactuators. In Proceedings of the 2015 IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 1025-1030). IEEE. https://doi.org/10.1109/ICMA.2015.7237626
Zhang, Z., Zhang, W., Wu, Q., Yu, Y., Liu, X. & Zhang, X. (2015). A Comprehensive Analytical Model and Experimental Validation of Z-shaped Electrothermal Microactuators. In S. Bai & M. Ceccarelli (Eds.), Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics (Vol. 33, pp. 177-187 ). Springer. https://doi.org/10.1007/978-3-319-18126-4_17
Zhang, X. (2014). Dynamic Modeling of a Macro-Micro Manipulator Using Transfer Matrix Method. In L. De Vin & J. Solis (Eds.), Proceedings of The 14th Mechatronics Forum International Conference Mechatronics 2014 (pp. 74-79). Karlstad University Press.
Zhang, X., Mills, J. K. & Cleghorn, W. L. (2014). PZT-based Model Sensing and Compensation for Vibration Control of Moving Flexible Links. In Proceedings of 3rd International Conference on Mechanical Engineering and Mechatronics: ICMEM'14 Article 166 Avestia Publishing.
Zhang, D., Li, Z., Chen, K., Xiong, J., Zhang, X. & Wang, L. (2013). An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access. BioMedical Engineering Online, 12(1). https://doi.org/10.1186/1475-925X-12-47
Leung, C., Lu, Z., Zhang, X. & Sun, Y. (2012). Three-Dimensional Rotation of Mouse Embryos. I E E E Transactions on Biomedical Engineering.

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Revised 13.11.2025
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Xuping Zhang