威尼斯娱人城官网

2003-2011，威尼斯娱人城官网 机械电子工程专业，博士
1999-2003，南京航空航天大学机械工程及自动化专业，学士

2019-今 威尼斯娱人城官网-9949威尼斯官网 机器人研究所，教授、博士生导师
2016-2019 威尼斯娱人城官网-9949威尼斯官网 机器人研究所，副研究员、博士生导师
2013-2015 威尼斯娱人城官网-9949威尼斯官网 机器人研究所，助理研究员
2011-2012 德国University of Bremen，洪堡学者/博士后

机器人学与智能制造技术
1. 机器人运动学与动力学
2. 机器人感知与控制技术
3. 机器人学习理论与技术
4. 机器人加工与操作技术

2023-2026 国家自然科学基金面上项目“超声振动辅助机器人曲面铣削动力学与控制”，负责人
2020-2024 国家自然科学基金重点项目“大型航空结构件高效加工并联机器人设计理论与方法”，上海交大方负责人
2019-2021 国家自然科学基金优秀青年科学基金项目“数字化制造技术与装备”，负责人
2019-2021 国家重点研发计划“智能机器人”重点专项“汽车轮毂智能磨抛机器人系统研发及产业化”，课题负责人
2017-2019 国家自然科学基金重大研究计划培育项目“气驱动连续机器人动力学与时滞主动控制”，负责人
2016-2020 国家自然科学基金重点项目“大型复杂零件机器人加工理论与技术”，上海交大方负责人
2014-2016 国家自然科学基金青年科学基金项目“曲面侧铣过程动力学建模与稳定性分析”，负责人

在Transactions of the ASME（26篇）、IEEE Transactions、Robotics and Computer-Integrated Manufacturing、International Journal of Machine Tools and Manufacture、《中国科学：技术科学》等期刊发表SCI论文80余篇。

1. Y. Chen, Y. Lu, and Y. Ding, "Toolpath generation for robotic flank milling via smoothness and stiffness optimization," Robotics and Computer-Integrated Manufacturing, (in press).
2. S. Sui, and Y. Ding, "Solving the AXB=YCZ problem for a dual-robot system with geometric calculus," IEEE Transactions on Automation Science and Engineering, (in press).
3. G. Sun, and Y. Ding, "An analytical method for sensitivity analysis of rigid multibody system dynamics using projective geometric algebra," Journal of Computational and Nonlinear Dynamics, Transactions of the ASME, (in press).
4. L. Xu, X. Chai, and Y. Ding, "Design of a 2RRU-RRS parallel kinematic mechanism for an inner-cavity machining hybrid robot," Journal of Mechanisms and Robotics, Transactions of the ASME, (in press).
5. L. Xu, X. Chai, and Y. Ding, "Design and analysis of a reconfigurable hybrid robot for machining of large workpieces," Journal of Mechanisms and Robotics, Transactions of the ASME, (in press).
6. G. Sun, and Y. Ding, "High-order inverse dynamics of serial robots based on projective geometric algebra," Multibody System Dynamics, (in press).
7. Y. Ding, and Y. Chen, "Point pair-based expression of cutter swept envelopes in five-axis milling," Computer-Aided Design, vol. 163, 103588, 2023.
8. Z. Lin, L. Xu, Y. Ding, and X.Y. Zhu, "A 2R1T redundantly actuated parallel manipulator with an offset moving platform and fixed linear actuators," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 15, no. 4, p. 041016 (12 pages), 2023.
9. T. Hou, Y. Lei, and Y. Ding, "Pose optimization in robotic milling based on surface location error," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 145, no. 8, p. 084501 (9 pages), 2023.
10. Y. Lei, T. Hou, and Y. Ding, "Stability analysis of pocket machining with the spiral tool path using the discontinuous Galerkin method," Journal of Manufacturing Processes, vol. 92, pp. 12-31, 2023.
11. Z. Shi, W. Zhang, and Y. Ding, "A local toolpath smoothing method for a five-axis hybrid machining robot," Science China Technological Sciences, vol. 66, no. 3, pp. 721-742, 2023.
12. Y. Chen, and Y. Ding, "Posture optimization in robotic flat-end milling based on sequential quadratic programming," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 145, no. 6, p. 061001 (12 pages), 2023.
13. Y. Lei, T. Hou, and Y. Ding, "Prediction of the posture-dependent tool tip dynamics in robotic milling based on multi-task Gaussian process regressions," Robotics and Computer-Integrated Manufacturing, vol. 81, 102508, 2023.
14. H.C. Li, and Y. Ding, "A Hamiltonian formulation on manifolds for dynamic modeling of constrained mechanisms and energy-preserving integration," Journal of Applied Mechanics, Transactions of the ASME, vol. 89, no. 12, p. 121007 (17 pages), 2022.
15. Y. Chen, P. Huang, and Y. Ding, "An analytical method for corner smoothing of five-axis linear paths using the conformal geometric algebra," Computer-Aided Design, vol. 153, 103408, 2022.
16. T. Fang, and Y. Ding, "A sampling-based motion planning method for active visual measurement with an industrial robot," Robotics and Computer-Integrated Manufacturing, vol. 76, 102322, 2022.
17. M. Xiao, Y. Ding, and G.L. Yang, "A model-based trajectory planning method for robotic polishing of complex surfaces," IEEE Transactions on Automation Science and Engineering, vol. 19, no. 4, pp. 2890-2903, 2022.
18. Y. Ren, and Y. Ding, "Online milling chatter identification using adaptive Hankel low-rank decomposition," Mechanical Systems and Signal Processing, vol. 169, 108758, 2022.
19. Y. Chen, W. Dong, and Y. Ding, "An efficient method for collision-free and jerk-constrained trajectory generation with sparse desired way-points for a flying robot," Science China Technological Sciences, vol. 64, pp. 1719-1731, 2021.
20. S. Xu, and Y. Ding, "Real-time recognition of human lower-limb locomotion based on exponential coordinates of relative rotations," Science China Technological Sciences, vol. 64, pp. 1423-1435, 2021.
21. J. Peng, P. Huang, Y. Ding, and H. Ding, "An analytical method for decoupled local smoothing of linear paths in industrial robots," Robotics and Computer-Integrated Manufacturing, vol. 72, 102193, 2021.
22. M. Xiao, and Y. Ding, "Contact kinematics between three-dimensional rigid bodies with general surface parameterization," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 13, no. 2, p. 021006 (11 pages), 2021.
23. X. Luo, M. Xiao, Y. Ding, and H. Ding, "Hysteresis modeling and compensation of a pneumatic end-effector based on Gaussian process regression," Sensors & Actuators: A. Physical, vol. 315, 112227, 2020.
24. M. Xiao, Y. Ding, Z. Fang, and G.L. Yang, "Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces," Precision Engineering, vol. 66, pp. 188-200, 2020.
25. J. Peng, Y. Ding, G. Zhang, and H. Ding, "Smoothness-oriented path optimization for robotic milling processes," Science China Technological Sciences, vol. 63, no. 9, pp. 1751-1763, 2020.
26. W. Dong, S. Liu, Y. Ding, X.J. Sheng, and X.Y. Zhu, "An artificially weighted spanning tree coverage algorithm for decentralized flying robots," IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp. 1689-1698, 2020.
27. G. Xiong, Z. Li, Y. Ding, and L. Zhu, "A closed-loop error compensation method for robotic flank milling," Robotics and Computer-Integrated Manufacturing, vol. 63, 101928, 2020.
28. J. Peng, Y. Ding, G. Zhang, and H. Ding, "An enhanced kinematic model for calibration of robotic machining systems with parallelogram mechanisms," Robotics and Computer-Integrated Manufacturing, vol. 59, pp. 92-103, 2019.
29. W. Dong, Y. Ding, L. Yang, X.J. Sheng, and X.Y. Zhu, "An efficient approach for stability analysis and parameter tuning in delayed feedback control of a flying robot carrying a suspended load," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 141, no. 8, p. 081015 (10 pages), 2019.
30. J. Xu, M. Xiao, and Y. Ding, "Modeling and compensation of hysteresis for pneumatic artificial muscles based on Gaussian mixture models," Science China Technological Sciences, vol. 62, no. 7, pp. 1094-1102, 2019.
31. W. Dong, Y. Ding, J. Huang, L. Yang, and X.Y. Zhu, "An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots," Robotics and Autonomous Systems, vol. 115, pp. 73-82, 2019.
32. Z. Wen, Y. Ding, P. Liu, and H. Ding, "An efficient identification method for dynamic systems with coupled hysteresis and linear dynamics," IEEE/ASME Transactions on Mechatronics, vol. 24, no. 1, pp. 326-337, 2019.
33. G. Xiong, Y. Ding, and L.M. Zhu, "Stiffness-based pose optimization of an industrial robot for five-axis milling," Robotics and Computer-Integrated Manufacturing, vol. 55, pp. 19-28, 2019.
34. J.B. Niu, Y. Ding, Z. Geng, L.M. Zhu, and H. Ding, "Patterns of regenerative milling chatter under joint influences of cutting parameters, tool geometries and runout," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 140, no. 12, p. 121004 (19 pages), 2018.
35. J. Xi, Z. Dong, Y. Ding, P. Liu, and H. Ding, "An adaptive 2DoF P-PI controller based on an improved just-in-time learning technique for ultra-low-velocity linear stages driven by PMLSMs," Precision Engineering, vol. 52, pp. 392-406, 2018.
36. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Mechanics and multi-regenerative stability of variable pitch and variable helix milling tools considering runout," International Journal of Machine Tools and Manufacture, vol. 123, pp. 129-145, 2017.
37. C.X. Li, Y. Ding, G.Y. Gu, and L.M. Zhu, "Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 855-864, 2017.
38. W. Dong, Y. Ding, J. Huang, X.Y. Zhu, and H. Ding, "An efficient approach of time-optimal trajectory generation for the fully autonomous navigation of the quadrotor," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 6, p. 061012 (9 pages), 2017.
39. Z. Wen, Y. Ding, P.K. Liu, and H. Ding, "Direct integration method for time-delayed control of second-order dynamic systems," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 6, p. 061001 (9 pages), 2017.
40. Y.A. Lu, Y. Ding, and L.M. Zhu, "Dynamics and stability prediction of five-axis flat-end milling," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 139, no. 6, p. 061015 (11 pages), 2017.
41. W. Dong, Y. Ding, X.Y. Zhu, and H. Ding, "Differential quadrature method for stability and sensitivity analysis of neutral delay differential systems," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 4, p. 044504 (7 pages), 2017.
42. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Stability analysis of milling processes with periodic spindle speed variation via the variable-step numerical integration method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 138, no. 11, p. 114501 (11 pages), 2016.
43. Y.A. Lu, Y. Ding, and L.M. Zhu, "Smooth tool path optimization for flank milling based on the gradient-based differential evolution method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 138, no. 8, p. 081009 (11 pages), 2016.
44. Y. Ding, J.B. Niu, L.M. Zhu, and H. Ding, "Numerical integration method for stability analysis of milling with variable spindle speeds," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 138, no. 1, p. 011010 (11 pages), 2016.
45. W. Dong, Y. Ding, X.Y. Zhu, and H. Ding, "Optimal proportional-integral-derivative control of time-delay systems using the differential quadrature method," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 137, no. 10, p. 101005 (8 pages), 2015.
46. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Eigenvalue assignment for control of time-delay systems via the generalized Runge-Kutta method," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 137, no. 9, p. 091003 (7 pages), 2015.
47. Y. Ding, X.J. Zhang, and H. Ding, "A Legendre polynomials based method for stability analysis of milling processes," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 137, no. 2, p. 024504 (7 pages), 2015.
48. Y. Ding, X.J. Zhang, and H. Ding, "Harmonic differential quadrature method for surface location error prediction and machining parameter optimization in milling," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 137, no. 2, p. 024501 (6 pages), 2015.
49. Y. Ding, L.M. Zhu, and H. Ding, "A wavelet-based approach for stability analysis of periodic delay-differential systems with discrete delay," Nonlinear Dynamics, vol. 79, no. 2, pp. 1049-1059, 2015.
50. Y. Ding, J.B. Niu, L.M. Zhu, and H. Ding, "Differential quadrature method for stability analysis of dynamic systems with multiple delays: application to simultaneous machining operations," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 137, no. 2, p. 024501 (8 pages), 2015.
51. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Runge-Kutta methods for a semi-analytical prediction of milling stability," Nonlinear Dynamics, vol. 76, no. 1, pp. 289-304, 2014.
52. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Stability analysis of milling via the differential quadrature method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 135, no. 4, p. 044502 (7 pages), 2013.
53. H. Ding, Y. Ding, and L. Zhu, "On time-domain methods for milling stability analysis," Chinese Science Bulletin, vol. 57, no. 33, pp. 4336-4345, 2012.
54. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Response sensitivity analysis of the dynamic milling process based on the numerical integration method," Chinese Journal of Mechanical Engineering, vol. 25, no. 5, pp. 940-946, 2012.
55. X.J. Zhang, C.H. Xiong, Y. Ding, M.J. Feng, and Y.L. Xiong, "Milling stability analysis with simultaneously considering the structural mode coupling effect and regenerative effect," International Journal of Machine Tools and Manufacture, vol. 53, no. 1, pp. 127-140, 2012.
56. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Milling stability analysis using the spectral method," Science China Technological Sciences, vol. 54, no. 12, pp. 3130-3136, 2011.
57. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Numerical integration method for prediction of milling stability," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 133, no. 3, p. 031005 (9 pages), 2011.
58. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "On a numerical method for simultaneous prediction of stability and surface location error in low radial immersion milling," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 133, no. 2, p. 024503 (8 pages), 2011.
59. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Second-order full-discretization method for milling stability prediction," International Journal of Machine Tools and Manufacture, vol. 50, no. 10, pp. 926-932, 2010.
60. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "A full-discretization method for prediction of milling stability," International Journal of Machine Tools and Manufacture, vol. 50, no. 5, pp. 502-509, 2010.

1. 课程名称：机器人学；授课对象：本科生；学时数：48；学分：3.
2. 课程名称：工程数值方法；授课对象：本科生；学时数：48；学分：3.
3. 课程名称：MATLAB及其工程应用；授课对象：本科生；学时数：48；学分：3.

1. 一种回转刀具刚体运动包络面解析计算方法、系统，中国发明专利，专利号：ZL202011467919.3.
2. 适用于无人机的无碰撞路径规划方法、系统及介质，中国发明专利，专利号：ZL202011363543.1.
3. 适用于六自由度机器人视觉测量的运动规划方法及系统，中国发明专利，专利号：ZL202110291297.1.
4. 基于位姿依赖特性和交叉耦合项的机器人刀尖频响预测方法和系统，中国发明专利，专利号：ZL202110154396.5.
5. 工业机器人铣削加工路径全局光顺方法及系统，中国发明专利，专利号：ZL201910954882.8.
6. 型腔螺旋铣削加工进给率与转速离线规划方法，中国发明专利，专利号：ZL201910954306.3.
7. 基于差分进化算法的手眼标定参数辨识方法、系统及介质，中国发明专利，专利号：ZL201910979354.8.
8. 基于高斯模型的气驱动执行器迟滞建模方法、系统及介质，中国发明专利，专利号：ZL202010686629.1.
9. 无人机速度规划方法，中国发明专利，专利号：ZL201911288946.1.
10. 六轴工业机器人铣削加工离线编程方法及系统，中国发明专利，专利号：ZL201810326542.6.
11. 基于微分求积法的无人机悬吊运输稳定性分析和控制方法，中国发明专利，专利号：ZL201710359396.2.
12. 孤岛区域无人机扫掠轨迹生成和速度规划方法及系统，中国发明专利，专利号：ZL201711002993.6.
13. 基于贝塞尔曲线转接的无人机轨迹平滑方法，中国发明专利，专利号：ZL201610704370.2.
14. 时滞视觉伺服系统最优PI参数优化方法及系统，中国发明专利，专利号：ZL201910093128.X.
15. 柔性气囊滚动支撑装置，中国发明专利，专利号：ZL201710124082.4.
16. 铣削加工主轴转速正弦调制参数优化方法，中国发明专利，专利号：ZL201510808172.6.
17. 基于加工振动的立铣刀关键几何参数设计方法，中国发明专利，专利号：ZL201410190600.9.
18. 螺旋铣孔过程中切削力预报和稳定性判别方法，中国发明专利，专利号：ZL201510875935.9.

1. 2018-今《中国科学：技术科学》青年编委
2. 2021-今 Frontiers in Manufacturing Technology, Associate Editor
3. 2021-今《机械科学与技术》编委
4. 2011-今 IEEE Member
5. 2007-今 ASME Member

1. 2023年，《机器人学》入选第二批国家级一流本科课程.
2. 2022年，威尼斯娱人城官网 首届“佳和”优秀教学奖.
3. 2021年，全国优秀教材(高等教育类)一等奖，第5完成人.
4. 2019年，《中国科学：技术科学》2018年度“优秀青年编委”.
5. 2018年，国家优秀青年科学基金获得者.
6. 2018年，威尼斯娱人城官网 晨星-优秀青年学者奖励计划(A类).
7. 2017年，高等学校科学研究优秀成果奖(自然科学一等奖)，第3完成人.
8. 2017年，上海市青年科技启明星(A类).
9. 2015年，威尼斯娱人城官网 李兰馨青年教师奖.
10. 2014年，威尼斯娱人城官网 SMC-晨星优秀青年教师(B类).
11. 2013年，上海市研究生优秀成果(博士学位论文).
12. 2011年，德国洪堡奖学金(the Alexander von Humboldt Foundation award).
13. 2010年，高等学校科学研究优秀成果奖(自然科学一等奖)，第5完成人.
14. 2005年，上海市科技进步二等奖，第8完成人.