Department of Mechanical and Production Engineering

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

Publications

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Zhou, Z., Li, L., Fürsterling, A., Durocher, H., Mouridsen, J. & Zhang, X. (2022). Learning-based object detection and localization for a mobile robot manipulator in SME production. Robotics and Computer-Integrated Manufacturing, 73, Article 102229. https://doi.org/10.1016/j.rcim.2021.102229
Wu, G., Zhang, N., Cui, C., Shen, H. & Zhang, X. (2021). Kinematics and Orientation Workspace of a 3-DOF Parallel Robotic Wrist Actuated by Spherical Four-Bar Linkages. In J. Lenarčič & B. Siciliano (Eds.), ARK 2020: Advances in Robot Kinematics 2020 (pp. 268-276). Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_33
Zhang, X., K. Mills, J. & L. Cleghom, W. (2010). Investigation of axial forces on dynamic properties of a flexible 3-PRR planar parallel manipulator moving with high speed. Robotica, 28(4).
Durocher, H., Bachmann, C., Mozzillo, R., Janeschitz, G. & Zhang, X. (2026). Inverse Kinematics and Statics-Based Motion Planning of a 7-DoF Transporter for DEMO-Type Breeding Blankets. Machines, 14(5), Article 469. https://doi.org/10.3390/machines14050469
Farhadiyadkuri, F., Popal, A. M., Paiwand, S. S. & Zhang, X. (2022). Interaction dynamics modeling and adaptive impedance control of robotic exoskeleton for adolescent idiopathic scoliosis. Computers in Biology and Medicine, 145, Article 105495. https://doi.org/10.1016/j.compbiomed.2022.105495
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
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
Wu, G., Zhang, X., Zhu, L., Lin, Z. & Liu, J. (2021). Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot. Mechanism and Machine Theory, 162, Article 104349. https://doi.org/10.1016/j.mechmachtheory.2021.104349
Zhang, X., Mills, J. K. & Cleghorn, W. L. (2009). Flexible linkage structural vibration control on a 3-PRR planar parallel manipulator: Experimental results. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 223(1), 71-84. https://doi.org/10.1243/09596518JSCE594
Zhang, X., Mills, J. K. & L. Cleghom, W. (2010). Experimental Vibration Mode Control of a Moving 3-PRR Flexible Parallel Manipulator with Multiple PZT Implementation on Transducers. Journal of Vibration and Control.
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). 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, X., K. Mills, J. & L. Cleghom, W. (2009). Experimental Investigation on the vibration Control of a Parallel Manipulator with Multiple Smart Flexible Links. In CCToMM
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
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
Filsoof, O. T., Yde, A., Bøttcher, P. & Zhang, X. (2020). Experimental Analysis of a Scaled-Down Vestas Four-Rotor Wind Turbine. Journal of Physics: Conference Series, 1618(3), Article 032005. https://doi.org/10.1088/1742-6596/1618/3/032005
Si, G., Zhang, H., Zhang, Z. & Zhang, X. (2024). Enabling intuitive and effective micromanipulation: A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper. Robotics and Autonomous Systems, 181, Article 104776. https://doi.org/10.1016/j.robot.2024.104776
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
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
Zhang, X. & Yu, Y. (2005). Efficient Method to Optimize the Joint Torques of a Flexible Redundant Manipulator by Planning the Self-motion. Zhongguo Jixie Gongcheng, 16(15), 1369-1372.
Zhang, X., K. Mills, J. & L. Cleghom, W. (2008). Effect of axial forces on lateral stiffness of a flexible 3-PRR parallel manipulator moving with high-speed. In Proceedings of IEEE international Conference on Information and Automation
chen, Z., Yu, Y., Du, Z. & Zhang, X. (2006). Dynamic Stress Analysis on Meek Joint of Meek Mechanism. Journal of Machine Design, 23(6), 40-43.
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
Yu, Y., Zhang, X. & Liu, Y. (2005). Dynamic Planning of Redundant Flexible Cooperative Robots. Zhongguo Jixie Gongcheng, 16(10), 847-851.
Helal, I. B. I., Du, Y., Wang, H. & Zhang, X. (2024). Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments. In X. Rui & C. Liu (Eds.), Proceedings of the 2nd International Conference on Mechanical Systems (pp. 477-493). Springer. https://doi.org/10.1007/978-981-99-8048-2_30
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
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
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
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.
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
Zhang, X., K. Mills, J. & L. Cleghom, W. (2010). Dynamic Modeling and Experimental Validation of a 3-PRR Parallel Manipulator with Flexible Intermediate Link. Journal of Intelligent and Robotic Systems.
Yang, X., Qiang, D., Chen, Z., Wang, H., Zhou, Z. & Zhang, X. (2022). Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint. In 2022 IEEE International Conference on Robotics and Automation, ICRA 2022 (pp. 4862-4868). IEEE. https://doi.org/10.1109/ICRA46639.2022.9812458
Chen, W., Yu, Y.-Q., Zhang, X. & Su, L. (2006). Dynamic Modeling and Coupling of Underactuated Flexible Robot. Chinese Journal of Mechanical Engineering (Chinese), 42(6).
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
Zhang, X., K. Mills, J. & L. Cleghom, W. (2008). Dynamic modeling and active vibration control of a –PRR flexible parallel manipulator with PZT transducers. In IEEE the 7th World Congress on Intelligent Control and Automation
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, X. & Yu, Y. (1998). Dynamic Analysis of Spatial Manipulators Considering Joint and Link Flexibility. Jixie Kexue yu Jishu, 17(5), 775-778.
Zhang, X., Lu, Z. & Sun, Y. (2011). Disposal Micro Devices for Clinical ICSI. In The IEEE 16th International Solid-State Sensors
Zhou, Z., Yang, X., Wang, H. & Zhang, X. (2022). Digital Twin with Integrated Robot-Human/Environment Interaction Dynamics for an Industrial Mobile Manipulator. Proceedings - IEEE International Conference on Robotics and Automation (ICRA), 5041-5047. https://doi.org/10.1109/ICRA46639.2022.9812004
Si, G., Sun, L., Zhang, Z. & Zhang, X. (2021). Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom. Micromachines, 12(4), Article 444. https://doi.org/10.3390/mi12040444
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., Zhao, Z., Zhang, Z. & Zhang, X. (2024). Design and Experimental Investigation of a Force Sensor for a 3-D Electrothermal Microgripper. IEEE Sensors Journal, 24(3), 2934-2944. https://doi.org/10.1109/JSEN.2023.3336214
Zhou, Z., Li, L. & Zhang, X. (2021). Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4148-4154). IEEE. https://doi.org/10.1109/ICRA48506.2021.9561106
Hudert, M. M., Elvebakken, M. F., Meagher, M., Mangliar, L., Zhang, X. & Esterle, L. (2022). Deep learning enhanced robotic fabrication of timber-to-timber connections with densified hardwood nails. In Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference: Innovation - Sustainability - Legacy (pp. 1740-1748)
Zhang, X., K. Mills, J. & L. Cleghom, W. (2009). Coupling Characteristics of Rigid Body Motion and Elastic Deformation of a 3-PRR Parallel Manipulator with Flexible Link. Multibody System Dynamics, 21(2).
Zhou, Z., Yang, X., Wang, H. & Zhang, X. (2022). Coupled dynamic modeling and experimental validation of a collaborative industrial mobile manipulator with human-robot interaction. Mechanism and Machine Theory, 176, Article 105025. https://doi.org/10.1016/j.mechmachtheory.2022.105025
Farhadiyadkuri, F., Strom, L. V., Villadsen, J. B., Hansen, O. H., Sandborg, N. S., Holm, M. L. & Zhang, X. (2020). Control Strategy for a Developed Robotic Spine Exoskeleton. In ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics (pp. 546-551). IEEE. https://doi.org/10.1109/ICARM49381.2020.9195376
Zhang, X., Leung, C., Lu, Z., Esfandiari, N., Casper, R. & Sun, Y. (2012). Controlled Positioning of Biological Cells inside a Micropipette. In IEEE International Conference on Robotics and Automation
Zhang, X., Lu, Z., Leung, C. & Sun, Y. (2012). Controlled Aspiration and Positioning of Biological Cells in a Micropipette. I E E E Transactions on Biomedical Engineering.

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Revised 13.11.2025
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Xuping Zhang