Allan.D.Zhang
FANUC - SHANGHAI Robotics Co., LTD. allandzhang(at)outlook(dot)com For mobile phone, pls. refer to his cv.
2010 - present
2010 - present
Academic Qualifications
08.2012-12.2015
09.2008-06.2012
06.2008
Electromechanical Engineering
Mechanical Engineering
The No.1 Middle School of Heze, Shandong Province
University of Macau (40th in Asia THE2015)
Hainan University (211 Project China)
2008Class Psychological Counsel; 2009Class Correspondent; 2010Class Information Communicator; 2011Monitor;
Master of Science
Bachelor of Engineering
Macao, China
Hainan, China
Heze, Shandong
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2009,2010 5,000m, male group, the 37th, 38th Sports Meeting
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03.2013 Macau Tertiary Education Magazine photography contest
Tertiary Education Services Office, Macao SAR of PRC
the third place
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08.2012 Graduate Assistant Scholarship
Teaching Assistant/Graduate Assistant
Graduate School, University of Macau
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06.2012 CSCLF & CNOOC College Students‘Power of Examples’
the unique candidate in Hainan
China Soong Ching Ling Foundation, China National Offshore Oil CORP.
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06.2012 College Alumni Director
Alumni Association Hainan University
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06.2012 Activist of Hua Min Charity Foundation 2011 4th Graduate Employment Training Project
Studnet Career Center of Hainan University
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05.2012 Launch Ceremony of 2012 (5th) Graduate Employment Training Project
Student representatives
Hua Min Charity Foundation, Student Career Center of Hainan University
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06.2011 Commemoration of the 90 Anniversary of CPC "Party in Our Heart" Knowledge Competition
second prize
Organization Department, Publicity Department of Party Committee, School Youth League of Hainan University
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05.2011 “Engineering Cup” Poetry Recitation Contest (the Repertoire Believe in the Future and PPT)
third prize
School Youth League of Hainan University (Danzhou)
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12.2010 "2010 Danzhou(Hainan) International Marathon"
Volunteers(domestic guest athlete checked at the starting line)
Danzhou Communist Youth League Committee
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11.2010 "Tsunami Cup" Speech Contest
the third
Mechanical and Electrical Engineering College, Hainan University
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09.2010 CSCLF "CNOOC College Student Fund" e-works Creative Contest
encouragement award
China Soong Ching Ling Foundation, China National Offshore Oil CORP.
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06.2010 "The Youth’s Contribution to International Tourist Island & Building the 211 Project" Knowledge Competition
the second prize
School Youth League of Hainan University (Danzhou)
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09.2009 2009 "the World First Aid Day" the first Red Cross first-aid knowledge and skills competition in Hainan Province
Red Cross of Hainan Provincial Branch, Hainan Administration of Work Safety,
Hainan Earthquake Administration, Hainan Broadcasting Group
second place
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2008-2011 National Inspirational Scholarship, etc.
Hainan University
Hainan University
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12.2015 Guangzhou Convention of Overseas Chinese Scholars in Science and Technology
Distinguished Guest
The Recruitment Program of Global Experts, Ministry of Education and Ministry of Science and Technology PRC
Chinese Academy of Sciences, Western Returned Scholars Association, Guangzhou Municipal Government, etc.
Work & Teaching Experiences
08.2012-12.2012 Teaching Assistant for MECH 314 – Microeconomics (Course for junior students)
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Grasp the detailed contents about economics and acknowledged by the instructor and students
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Teach exercises, assignments for junior students for two courses
09.2014-05.2015 Supervisor assistant for undergraduate students' Final Year Project
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Final Year Project with title of Kinematic Analysis and Control for Darwin Humanoid Robot
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Responsible for Mr. Xinzhe CUI and Xiao LI during Prof. LI’s sabbatical leave for the whole academic year
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The FYP has been awarded the Dean's FYP List
For references, e-mail: ymli(at)umac(dot)mo
Supervisor: Prof. Yangmin Li
01.2014-05.2014 Teaching Assistant of course “Mechatronics”
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Teach basics of Linux operating system for the corresponding course project;
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Responsible for exercises, assignments and mid-term & final test for Year-1 master students;
Instructor: Prof. Yangmin Li
01.2013-05.2013 Teaching Assistant for MECH 304 - Macroeconomics (Course for junior students)
Instructor: Dr. Yan Su
For references, e-mail: yansu(at)umac(dot)mo
Instructor: Dr. Yan Su
FANUC - SHANGHAI Robotics Co., LTD.
12.2015- R & D Engineer at Research & Development Center
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Responsible for New Production Proposal, and develop project documentation about mobile robot / AGVs
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Policy analysis of and response to robot policy and strategy issued by the Chinese Government and abroad
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Grasp operation skills about FANUC robot & its controller, as well as its alarm code & relevant troubleshooting
09.2013-09.2015 Project: Kinematics Analysis and Trajectory Planning of Mobile Manipulators
1. Background:
Kinematics is of fundamental importance for trajectory planning, motion control, etc.. However, multiple solutions
exist for serial manipulators. The desirable or optimal solution has to be selected and matched from multiple solutions using additional algorithms, such as closest solution, energy-saving. As for the continuous trajectory planning in the Cartesian space, several methods exist, such as the interpolation of quarternion, Frenet-Serret formulas and axis - angles methods. However, they might encounter severe problems for kinematically deficient manipulators. Meanwhile, trajectory planned in joint space makes path between via pints complex and unpredictable.
2. Proposal:
2.1 Kinematics Analysis and Control: Proposing the reservation method to settle the uniqueness in serial robotics
The desirable and optimal solutions can be directly obtained without the selection and match from multiple solutions.
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5-DOF Manipulator: KUKA youBot manipulator from KUKA; Pioneer-arm from Mobile Robots
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6-DOF Manipulator & Humanoid Leg: PUMA560 from Unimation; DARwIn-OP humanoid robot from Robotis
2.2 Continuous Trajectory Planning：Proposing DRO & SRO to achieve continuous Cartesian trajectory.
The dynamic reference orientation or static reference orientation is proposed to plan the continuously time-varying orientation, which is coupled with position of end-effector. Therefore, the continuous complicated trajectory planning can be directly achieved in the Cartesian space using the above-mentioned inverse kinematics without the interpolation in the joint space. Therefore, it can avoid the unpredictable and complicated shape of end-effector.
3. Summary:
The above one is the fastest algorithm but the look-up table because of the specified uniqueness. It has been granted
with Patent of Invention, and also displayed on the official website of KUKA youBot (youBot Newsletter 2015 No. 03).
Funded by University of Macau
No.1500, Fulian Road, Baoshan, Shanghai, CHNIA. (201906)
Contanct Details
Technical Skills
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CAD/CAE & Math:
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Operating system
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Language skills:
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Office skills:
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Hobbies:
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Auto-CAD(2D); Solidworks(3D); Matlab; Mathematica
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& Programming: Microsoft Windows; Linux; Acquainted with C and C++
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Mandarine; Master courses fully delivered in English/CET-6(College English Test-6); Cantonese;
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Latex (Book/Article/Beamer for slides); Office (PowerPoint /Word/Excel/Viso); HTML; Adobe Acrobat Pro; Photoshop;
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First Aid/CPR(Red Cross of Hainan Provincial Branch); Mental Health First Aid(the Mental Health Association of Hong Kong); photography (DSLR-Nikon_D90);
Publications & Academics
12.2015 Oral speaker at the 2015 IEEE-ROBIO (International Conference on Robotics and Biomimetics)
Zhuhai. China
09.2014 Oral speaker at the 18th World Congress of CIGR
The 18th world congress of International Commission of Agricultural and Bio-systems Engineering
Beijing. China
12.2017 Individual Patent: Method for Robotic Trajectory Planning in the Cartesian Space
Coordinator: Prof. Yunjiang LOU
Shenzhen Key Lab of Advanced Motion Control and Modern Automatic Equipment, Harbin Institute of Technology(Shenzhen)
11.2015 Lab. Workshop with Title of Issues about Inverse Kinematics and Trajectory Planning
12.2015 First author, A Novel Kinematics Analysis for 5-DOF Manipulator Based on KUKA youBot(EI)
More papers hereafter for Senior Engineer under the Patent of Invention.
Application No.: CN201510391934.7 Involving novel inverse kinematics and orientation & corresponding trajectory planning
Granted, Certificate of Patent
IEEE-ROBIO-2015
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Typical Research Object
DARwIn Humanoid Robot (6-DOF leg) from Robotis, South Korea; GSK RB-20 (6-DOF) from GSK CNC Equipment Co., China; Pioneer-arm (5-DOF) from Mobile Robots, US; Katana Manipulator (5-DOF) from Neuronics AG Co.; KUKA youBot Mobile Manipulator (5-DOF) from KUKA company, Germany
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Experimental Results
The algorithm based on the above-mentioned patent has been carried out. The heart, butterfly lovers, five-pointed star and UM are presented as above in this page, and the corresponding videos can be available at http://i.youku.com/ylzhang