教师名录
楼云江
通讯地址:深圳市南山区西丽深圳大学城哈工大校区D栋409房间
电子邮件:louyj@hit.edu.cn
联系电话:+86-755-26033518

研究方向

1、并联、商联机器人机构的分析、综合与优化设计;并联机器人的工业应用;
2、运动控制技术;
3、医疗机器人。

教育经历

2001-2006  香港科技大学电子与计算机工程学系,机器人与自动化博士学位
1997-2000  中国科学技术大学自动化系,控制科学与控制工程工学硕士学位
1992-1997  中国科学技术大学自动化系,控制理论与控制工程理学学士学位

研究与工作经历

2006—  副教授,哈尔滨工业大学深圳研究生院
2013—  副教授,博士生导师,哈尔滨工业大学深圳研究生院
2014—  教授,博士生导师,哈尔滨工业大学深圳研究生院
  

专业资质与学术兼职

2014-  Associate Editor, IEEE Transactions on Robotics
2003-至今  IEEE Trans. on Robotics, IEEE/ASME Trans. on Mechatronics, IEEE Trans. on Control System Technology, Mechanism and Machine Theory等国际一流学术期刊和IEEE International Conference on Robotics and Automation, IEEE/RSJ International Conference on Intelligent Robots and Systems等国际学术会议的审稿人
2008-至今  任IEEE国际机电与自动化大会(ICMA2013,2012,2011),IEEE国际自动化与物流大会(ICAL2012,2010),IEEE国际信息与自动化大会(ICIA2012,2010,2009),全球智能控制与自动化大会(WCICA2012,2010,2008),第四届国际智能机器人与应用大会(ICIRA2011),IEEE国际智能机器人及系统大会(IROS2011,2010,2009),IEEE世界机器人与自动化大会(ICRA2011),IEEE国际机器人与仿生学大会(ROBIO 2009,2008)国际程序委员会委员(Program Committee Member)/编委(Associate Editor)
2011  任2011IEEE世界机器人与自动化大会(2011 IEEE International Conference on Robotics and Automation,May. 9-13, 2011)总务主席兼秘书长(General Affairs Chairs & Secretariat).
2008  第七届两岸三地先进制造技术研讨会(深圳/香港)组委会共同主席、秘书长

科研项目

2015-2018  柔性辅料贴装智能机器人关键技术研究,深圳市科技计划基础研究学科布局项目(主持)
2015-2017  面向3C产品装配与包装的智能工业机器人和自动化生产线研发,国家科技支撑计划课题(哈工大方课题负责人)
2012-2015  面向微电子制造的高速高精度运动平台的设计及控制科学问题与关键技术研究,国家自然科学基金重点项目(哈工大方课题负责人)
2011-2013  开放式驱动控制一体化的工业机器人控制器研发,863计划先进制造技术领域重大项目(哈工大方课题负责人)
2011-2013  商联机构的分析、综合与优化设计,国家自然科学基金面上项目(主持)
2008-2010  面向机床和高速加工设备的混联机构研究,国家自然科学基金青年基金项目(主持)

科研成果及奖励

2009  2009IEEE国际信息与自动化大会最佳论文提名奖(3/297)

发明专利

[1]楼云江,陆春雨,陈光增,驱动控制一体化智能集成关节,专利申请号:201410807457.3,专利申请日:2014年12月23日,专利授权日:2016年4月27日。

[2]楼云江,陈光增,基于MIDI解码的西洋长笛自动演奏机器人及自动演奏方法,专利申请号:201410449830.2,专利申请日:2014年9月5日,授权日:2016年1月20日。

[3]楼云江,陈光增,高动态动磁式的直线旋转一体式二自由度电机,专利申请号:2014102061419,专利申请日:2014年5月16日。

[4]楼云江,孟浩,基于任务极坐标系的伺服系统轮廓控制方法,专利申请号:2013107498511,专利申请日:2013年12月30日。

[5]楼云江,廖斌,一种面向拾放操作的四自由度大工作空间并联机器人机构,专利申请号:201310515033.5,专利申请日:2013年10月28日,公开日:2014年2月5日,专利授权日:2016年2月17日。

[6]楼云江,王勋,张松振,基于灵巧机器人的磁控主动式胶囊内窥镜运动控制系统,专利申请号:201310107217.8,专利申请日:2013年3月29日,公开日:2013年06月26日。

[7]楼云江,赵学超,黄瑞宁,一种动磁式直线旋转二自由度电机,专利申请号:201110420200.9,专利申请日:2011年11月15日,公开号:CN102497080A,公开日:2012年06月13日。

[8]黄瑞宁,楼云江,王立志,三维超声波协同调制微细电火花线切割加工装置,专利申请号: 201210064950.1,专利申请日: 2012年01月13日,公开号:CN102615364A,公开日:2012年08月01日。

[9]黄瑞宁,楼云江,杨瑞鹏,一种面向太阳跟踪的一维驱动两维输出机器人机构,专利申请号:201210007227.X,专利申请日:2012年01月11日,公开号:CN102541088A,公开日:2012年07月04日。

[10]楼云江,李志斌,李泽湘,陈铁牛,大工作空间并联机器人机构,专利号:ZL200910309684.2,专利申请日:2009年11月13日,专利授权公告日:2011年08月03日。

[11]李志斌,楼云江,陈铁牛,叶玮渊,董旭明,汤滢,二自由度平动并联机器人机构,专利号:ZL200910306595.2,专利申请日:2009年09月04日,专利授权公告日:2011年05月25日。

[12]李志斌,钟江生,吴志敏,常江,楼云江,陈铁牛,三平动一转动并联机器人机构,专利号:ZL200910307743.2,专利申请日:2009年09月25日,专利授权公告日:2011年05月18日。

论文及著作

[1] Yunjiang Lou, Zexiang Li, Geometric Methods in Robotics and Mechanism Research, Lambert Academic Publishing, 2011. (英文编著)

[2]Ran Shi, Yunjiang Lou, "A Novel Contouring Error Estimation for Three-Dimensional Contouring Control," IEEE Robotics and Automation Letters, 2(1): 128-134, 2017

[3]Bin Liao, Yunjiang Lou, Zhibin Li, Jinbo Shi, Xin Chen, “Design and analysis of a novel parallel manipulator for pick-and-place applications”, Meccanica, 51:1595–1606, 2016.

[4]Yunjiang Lou, Hao Meng, Jiangzhao Yang, Zexiang Li, Jian Gao, Xin Chen, “Task Polar Coordinate Frame based Contouring Control of Biaxial Systems”, IEEE Transactions on Industrial Electronics, 61(7): 3490-3501, Jul 2014.

[5]Yunjiang Lou, Yongsheng Zhang, Ruining Huang, Xin Chen, and Zexiang Li, “Optimization Algorithms for Kinematically Optimal Design of Parallel Manipulators”, IEEE Trans. on Automation Science and Engineering, 11(2): 574-584, Apr. 2014.

[6]Jiangang Li, Hongsheng Zhouyang, Yunjiang Lou, “Tool path optimization in postprocessor of five-axis machine tools”, International Journal of Advanced Manufacturing Technology, 68(9-12): 2683-2691, October 2013.

[7]H. Chen, C. Wang, and Y. Lou, “Flocking Multiple Microparticles with Automatically Controlled Optical Tweezers: Solutions and Experiments”, IEEE Transactions on Biomedical Engineering, 60(6): 1518-1527, June, 2013.

[8]Bin Liao, Yunjiang Lou, and Zexiang Li, “Kinematics and optimal design of a novel 3-DoF parallel manipulator for pick-and-place applications”, International Journal of Mechatronics and Automation, 3(3): 181-190, 2013.

[9]Zhibin Li, Yunjiang Lou, Yongsheng Zhang, Bin Liao, and Zexiang Li, “Type Synthesis, Kinematic Analysis and Optimal Design of a Novel Class of Schoenflies-Motion Parallel Manipulators”, IEEE Trans. on Automation Science and Engineering, 10(3):674-686, July, 2013.

[10]金明杰,楼云江,刘冠峰,凌强,“基于自适应动态碰撞检测的工业机器人运动规划算法研究”,中国科学技术大学学报,42(6):448-455,2012。

[11]Yunjiang Lou, Zhaoqi Shang, Ruining Huang, Zexiang Li, “H∞ Robust Control of a Linear Motor Actuated Parallel XY Stage”, Advanced Science Letters, 15(1): 469-474(6), 2012.

[12]Yunjiang Lou, Zhibin Li, Yingying Zhong, Zexiang Li, “Dynamics and Contouring Control of a 3-DoF Parallel Kinematics Machine”, IFAC Mechatronics, 21(1): 215-226, 2011.

[13]Yunjiang Lou, Yongsheng Zhang, Ruining Huang, and Zexiang Li, “Integrated Structure and Control Design for a Flexible Planar Manipulator”, Lecture Notes in Artificial Intelligence, Vol. 7101, pp. 260-269, 2011.

[14]Yunjiang Lou, Guanfeng Liu, and Zexiang Li, “Randomized optimal design of parallel manipulators”, IEEE Trans. on Automation Science and Engineering, 5(2), pp. 223-233, 2008.

[15]Guanfeng Liu, Yunjiang Lou, and Zexiang Li, “Singularities of parallel manipulators: a geometric treatment”, IEEE Trans. on Robotics and Automation, Vol. 19, No. 4, pp.579-594, Aug. 2003.

[16]楼云江,邓雷,“基于最佳平均传动角的曲柄摇杆机构设计”,机械设计,28(8):34-37,2011.

[17]黄瑞宁,楼云江,“微细线切割电极丝形位误差分析”,哈尔滨工业大学学报,44(3): 69-74, 2012。

[18]Zhibin Li, Yunjiang Lou, Yongsheng Zhang, et al, “V3: A Novel Parallel Manipulator for Pick-and-Place Operation with Unlimited Rotation Capability”, Geometric Methods in Robotics and Mechanism Research, Lambert Academic Publishing, pp. 120-139, 2011.

[19]钟英英,楼云江,徐毅,“并联机构动力学建模及控制研究”,机电工程,26(4),pp. 5-8, 2009.

会议论文及发表演说

[1]Ran Shi, Yunjiang Lou, Yongqi Shao, Jiangang Li and Haoyao Chen, “A Novel Contouring Error Estimation for Position-Loop Cross-Coupled Control of Biaxial Servo Systems”, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2197-2202, Daejeon, Korea, Oct. 2016.

[2]Jinzhao Du, Yunjiang Lou, “Simplified Dynamic Model for Real-time Control of the Delta Parallel Robot”, In Proceeding of the 2016 IEEE International Conference on Information and Automation, 1647-1652, 2016.

[3]Yongqi Shao, Yunjiang Lou, and Ran Shi, “Contouring Error Computation and Cross-coupled Control for Biaxial Servo System”, In Proceedings of 12th World Congress on Intelligent Control and Automation (WCICA), 1937-1942, 2016.

[4]Yalan Zhao, Yunjiang Lou, “Smooth and Multi-Objective Optimal Motion Planning for Delta Robot”, In Proceedings of the IEEE International Conference on Real-time Computing and Robotics, 186-191, 2016.

[5]Juan Du, Yanjie Li and Yunjiang Lou, “A Simulation Study of Control Methods for Three-Phase Energy Storage Inverter”, In Proceeding of the 2015 IEEE International Conference on Information and Automation, 931-936, 2015.

[6]Yu Yang, Haoyao Chen, Yunjiang Lou and Wei Lin, “Remote Master-Slave Control of A 6D Manipulator for Cardiac Surgery Application”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, Dec. 2014.

[7]Guangzeng Chen, Xun Wang, Yunjiang Lou, “Modeling and Simulation of Magnet-Guided Active Endoscopic Capsules Manipulated by Robots”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 881-886, July, 2014.

[8]Xiansheng Yang, Yunjiang Lou, Zexiang Li, Haoyao Chen, “Survey of Robotic ManipulatorWorkspace”, In Proceedings of the 33rd Chinese Control Conference, pp. 8530-8535, July, 2014.

[9]Jiangpeng Zhou, Hao Meng and Yunjiang Lou, “Contouring Accuracy Improvement using Natural Local Approximation for the Biaxial System”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 133-138, Dec. 2013.

[10]Hao Meng, Yunjiang Lou and Jiangpeng Zhou, “Natural Local Approximation based Contouring Control for Free-form Contours”, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4434-4439, Tokyo, Nov. 2013.

[11]Ying Zhao, Yunjiang Lou, “Vision Guided Navigation Based on Dark Regions and Template Matching for Capsule Endoscopies”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 533-538, 2013.

[12]Yunjiang Lou, Xiansheng Yang, Ke Li, and Xuechao Zhao, “Design and Optimization of a Linear Voice Coil Motor for LED Die Bonders”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 1009-1014, 2013.

[13]Hao Meng, Yunjiang Lou and Jiaying Chen, “High Speed Contouring Control of Biaxial Systems based on Task Polar Coordinate Frame”, In Proceedings of the IEEE 8th International Conference on Industrial Electronics and Applications, pp. 1583-1588, 2013.

[14]Ying Zhao, Yunjiang Lou, “A Vision Based Navigation for Capsule Endoscopies”, In Proceedings of the IEEE 8th International Conference on Industrial Electronics and Applications, pp. 723-728, 2013.

[15]Zheng Wang, Yunjiang Lou, Yue Liu, and Zexiang Li, “An Open Control System Architecture with an On-line Velocity Filter for Industrial Robots”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 2201-2206, 2012.

[16]Yunqiang Zhang, Ruining Huang, Yunjiang Lou, and Zexiang Li, “Dynamics based Time-Optimal Smooth Motion Planning for the Delta Robot”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1789-1794, 2012.

[17]Bin Liao and Yunjiang Lou, “Optimal Kinematic Design of a New 3-DOF Planar Parallel Manipulator for Pick-and-Place Applications”, In Proceedings of the IEEE International Conference on Mechatronics and Automation, pp. 892-897, 2012.

[18]Jiangzhao Yang, Zexiang Li, Hong Wang, Yunjiang Lou, and Zhili Long, “Direct Contour Error Compensation for Biaxial Contouring Control Systems Based on a Global Fixed Coordinate Frame”, In Proceedings of the 8th World Congress on Intelligent Control and Automation, pp. 1113-1118, 2011.

[19]Zhibin Li, Yunjiang Lou, and Zexiang Li, “Type synthesis and kinematic analysis of a new class schönflies motion parallel manipulator”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 267-272, 2011.

[20]陈俊恒, 楼云江, 黄瑞宁, 固晶机柔性摆臂系统的输入整形减振控制研究, 中国控制会议,3570-3574, 2011.

[21]Zhibin Li, Yunjiang Lou, Zexiang Li, Guilin Yang, Jian Gao, “T2: A Novel Two Degree-Of-Freedom Translational Parallel Robot for Pick-And-Place Operation”, In Proceedings of the IEEE International Conference on Control and Automation, pp. 725-730, 2010.

[22]Zhimin Liang, Jiangang Li, Yunjiang Lou, Zexiang Li. “A unified framework of postprocessor for multi-axis machine tool”, Proceedings of International Conference on Digital Manufacturing & Automation, pp. 152-155, 2010.

[23]Jianqing Yan, Jiangang Li, Yunjiang Lou, Zexiang Li, “NC machine interference and collision checking system based on OpenCASCADE”, Proceedings of the International Conference on Digital Manufacturing & Automation, pp. 975-978, 2010.

[24]Yunjiang Lou, Tieniu Chen, Yuanqing Wu, Zhibin Li, and Shilong Jiang, “Improved and Modified Geometric Formulation of POE Based Kinematic Calibration of Serial Robots”, In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 5261-5266, 2009.

[25]Yunjiang Lou, Wei Gong, Zexiang Li, Jianjun Zhang, and Guilin Yang, “Natural Frequency Based Optimal Design of a Two-Link Flexible Manipulator”, In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1768-1773, Kobe, 2009.

[26]Yingying Zhong, Yunjiang Lou, and Zhibin Li, “Dynamic Modeling and Contouring Control of Parallel Kinematic Machines”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 283-288, 2009.

[27]Yunjiang Lou, Fang Feng, Zhibin Li, “Dynamics Based Trajectory Planning for Parallel Manipulators”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 295-300, 2009.

[28]Jian Shen and Yunjiang Lou, “Topology Optimization of a Linear-Motor Actuated Parallel XY Stage”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 762-767, 2009.

[29]Yunjiang Lou, Tieniu Chen, Yuanqing Wu, and Guanfeng Liu, “Computer Vision Based Calibration of the Purely Translational Orthopod Manipulator”, In Proceedings of the IEEE International Conference on Information and Automation, pp. 1404-1409, 2009.

[30]Y.J. Lou, W. Gong, J.B. Shi, and Z.X. Li, “An integrated structure/control design of mechatronics systems”, In Proceedings of the 7th World Congress on Intelligent Control and Automation, pp. 376-381 Chongqing, 2008.

[31]Y.Q. Wu, Z.X. Li, H. Ding, Y.J. Lou, “Quotient kinematics machines: Concept, analysis and synthesis”, In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 1964-1969, 2008.

[32]Y.J. Lou, J.G. Li, J.B. Shi, and Z.X. Li, “Development of a novel 3-DoF purely translational parallel mechanism”, In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 169-174, Rome, 2007.

[33]Jinbo Shi, Yunjiang Lou, Jianjun Zhang and Zexiang Li, “A study on integrated design methodology: a single beam case”, In Proceedings of IEEE International Conference on Mechatronics and Automation, pp. 2747-2752, 2007.

[34]Shibo Sun, Jacob W.F. Cheung and Yunjiang Lou, “A study on five-bar manipulators for semiconductor packaging applications”, In Proceedings of IEEE International Conference on Mechatronics and Automation, pp. 1811-1816, 2007.

[35]Y.J. Lou and Z.X. Li, “A novel 3-DoF purely translational parallel mechanism”, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2144-2149, Beijing , 2006.

[36]Y.J. Lou, N. Chen, and Z.X. Li, “Task space based contouring control of parallel machining systems”, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2047-2052, Beijing, 2006.

[37]N. Chen, Y.J. Lou, and Z.X. Li, "Adaptive contouring control for high-accuracy tracking systems", In Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 50-55, Taipei, 2006.

[38]Dongjun Zhang, Yunjiang Lou, and Zexiang Li, “Geometric contouring control on the smooth surface”, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4496-4501, 2006.

[39]Y.J. Lou, D.J. Zhang and Z.X. Li, “Optimal design of a parallel machine based on multiple criteria”, In Proceedings of IEEE International Conference on Robotics and Automation, pp. 3219 – 3224, Barcelona, Spain, 2005.

[40]Y.J. Lou, G.F. Liu, N. Chen, and Z.X. Li, “Optimal design of parallel manipulators for maximum effective regular workspace”, In Proceedings of IEEE/RSJ International Conference Intelligent Robots and Systems, Edmonton, pp. 795-800, Alberta, Canada, 2005.

[41]Y.J. Lou, G.F. Liu, J.J. Xu, and Z.X. Li, “A general approach for optimal kinematic design of parallel manipulator”, In Proceedings of IEEE International Conference on Robotics and Automation, pp. 3659 – 3664, New Orleans, LA, USA, 2004.

[42]Y.J. Lou, G.F. Liu, and Z.X. Li, “An LMI-based optimal design of parallel manipulators”, In Proceedings of the 11th World Congress on Mechanism and Machine Science, Tianjin, China, 2004.

[43]Y.J. Lou, G.F. Liu, and Z.X. Li, “Optimal design of parallel manipulators via LMI approach”, In Proceedings of IEEE International Conference on Robotics and Automation, pp. 1869 – 1874, Taipei, 2003.

任教和任导师经历

哈尔滨工业大学(深圳)  研究生课程:
2008—2017 线性系统理论
2010—2011 凸优化理论
2006—2007 反馈控制

博士生招生
欢迎数理基础扎实,有志于操作、医疗、移动机器人理论与技术研究的硕士生联系报考。

博士后招聘
欢迎机器人、高速数控加工领域的博士毕业生联系合作开展博士后研究。薪酬待遇:除了正常博士后工资外,深圳市提供每年约12万元的津贴。
最后更新:2017-02-14 11:36:01