2 credit points
Synopsis This curse introduces the science and engineering of mechanical manipulation. Main content includes spatial descriptions and transformations, manipulator kinematics and inverse kinematics, velocities and static forces, manipulator dynamics, trajectory generation, linear, nonlinear, and force control of manipulators, and robot programming languages and systems, etc. Combined with the practical engineering problems, it will be introduced systematically from the most basic to the latest research results. The course is suitable for graduate students, especially for students who is engaged in or will be engaged in the study and applications of robotics. Outcomes The learning goals associated with this unit are to: lmaster manipulator kinematics and inverse kinematics; lmaster the analysis of static forces and dynamics of manipulators; lmaster trajectory generation techniques; lmaster principals of position control and force control of manipulators; lunderstand the programming languages and systems of industrial robots. Assessment Attendance and homework: 40%; Term paper: 60% Chief examiner(s) Li, Jun
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Teachers
Research areas
Petri Nets and Applications;Control and Simulation of Discrete Event Systems;Operations Research;Robotics
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Education
Ph. D. in Control Theory & Control Engineering
Southeast University, Dec. 1, 2007
M. S. in Mechanical Design and Its Theory
Jiangsu University, Jun. 28, 2003
B. S. in Mechanical Design and Manufacturing
East China Institute of Metallurgy (presently Anhui University of Technology), Jun. 4, 2000
Employment
2012-present | School of Automation, Southeast University, Associate Professor |
2010-2012 | School of Automation, Southeast University, Assistant Professor |
2007-2010 | School of Mechanical Engineering, Southeast University, Post-doctoral Researcher
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Publications
Articles
[1] Li, Jun; Zhou, MengChu; Guo, Tao; Gan, YaHui; Dai, Xianzhong. Robust Control Reconfiguration of Resource Allocation Systems with Petri Nets and Integer Programming, Automatica, In Press.
[2] Li, Jun; Zhou, MengChu; Dai, Xianzhong. Reduction and Refinement by Algebraic Operations for Petri Net Transformation, IEEE Transactions on Systems, Man and Cybernetics Part A: Systems and Humans, SEP. 2012, 42(5), pp 1244-1255.
[3] Li, Jun; Dai, Xianzhong; Meng, Zhengda; Dou, Jianping; Guan, Xianping. Rapid design and reconfiguration of Petri net models for reconfigurable manufacturing cells with improved net rewriting systems and activity diagrams, Computers and Industrial Engineering, 2009, 57(4), pp 1431-1451
[4] Li, Jun; Dai, Xianzhong; Meng, Zhengda. Automatic Reconfiguration of Petri Net Controllers for Reconfigurable Manufacturing Systems with an Improved Net Rewriting System-Based Approach, IEEE Transactions on Automation Science and Engineering, 6(1), 2009, pp 156-167
[5] Li, Jun; Dai, Xianzhong; Meng, Zhengda. Improved net rewriting system-based approach to model reconfiguration of reconfigurable manufacturing systems, International Journal of Advanced Manufacturing Technology, 2008, 37(11-12), pp 1168-1189
[6] Li, Jun; Dai, Xianzhong; Meng, Zhengda; Xu, Libo. Improved Net Rewriting Systems-Extended Petri Nets Supporting Dynamic Changes, Journal of Circuits, Systems and Computers, 2008, 17(6), pp 1027-1052
[7] Dai, X.; Li, J.; Meng, Z. Hierarchical Petri net modelling of reconfigurable manufacturing systems with improved net rewriting systems, International Journal of Computer Integrated Manufacturing, 2009, 22(2), pp 158-177
[8] LI Jun, DAI Xian-zhong, MENG Zheng-da, DOU Jian-ping, “Reconfigurable manufacturing cell error recovery: an approach based on improved net rewriting systems,” Journal of Control Theory & Applications, 2010, 27(2): 205-210.
[9] Jun Li, MengChu Zhou, and Xianzhong Dai, “Exploiting Robustness in Petri Net-Based Closed-Loop Systems to Accommodate Control Specification Changes,” in Proc.9th IEEE International Conference on Automation Science and Engineering, Madison Wisconsin, Aug. 17-21, 2013.
[10] Jun Li, Qirui Sun, MengChu Zhou, and Xianzhong Dai, “A New Multiple Traveling Salesman Problem and its Genetic Algorithm-based Solution,” in Proc. 2013 IEEE International Conference on Systems, Man, and Cybernetics, Manchester, UK, October 13 -16, 2013.
[11] Gan, Yahui; Dai, Xianzhong; Li, Jun. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots, International Journal of Advanced Robotic Systems, 2012, 9, pp 1-13
[12] Guan, Xianping; Dai, Xianzhong; Li, Jun. Revised electromagnetism-like mechanism for flow path design of unidirectional AGV systems, International Journal of Production Research, 2011, 49(2), pp 401-429
[13] Li, Jun; Sun, Qirui; Dai, Xianzhong. A Coordination and Optimization Method for Multi-Bridge Waterjet Cutting Processes, in Proc. 42nd International Conference on Computers & Industrial Engineering, July 16-18, 2012, Cape Town, South Africa
[14] Guo, Tao; Li, Jun; Dai, Xianzhong; Sun, Qirui. Supervisory control reconfiguration and optimization of resource allocation systems with a Petri net and mathematical programming approach, in Proc 2012 9th IEEE International Conference on Networking, Sensing and Control, ICNSC April 11-14, 2012, Beijing, China
[15] Guo, Qiang; Li, Jun; Dai, Xianzhong. Cutting quality prediction of a quasi-5-axis abrasive waterjet machine with an adjustable workhead, in Proc 2012 9th IEEE International Conference on Networking, Sensing and Control, ICNSC April 11-14, 2012, Beijing, China
[16] Dou, Jianping; Li, Jun; Lv, Qi. A hybrid particle swarm algorithm for assembly line balancing problem of type 1, inProc 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Aug. 7-10, 2011, Beijing, China
[17] Dou, Jianping; Su, Chun; Li, Jun. A discrete particle swarm optimization algorithm for assembly line balancing problem of type 1, in Proc. 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011, Jan. 6-7, 2011, Shanghai, China
Contact Information
Address:
Southeast University
School of Automation
Si Pai Lou 2#
Nanjing, 210096
China
Tel.: +86 25 8379 0871 ext. 1
E-mail: j.li@seu.edu.cn
