Jimu Liu

1. Collaborated with both German team and Chinese team to design the next generation CNC system. 2. Researched on key motion control algorithms, including kinematic transform, velocity planning. 3. Developed a mini CNC system prototype with MATLAB to verify the above algorithms.

1. Participated in the development and maintenance of PA 9000 CNC system, programming in C language. 2. Fixed several bugs of the CNC related to distance control, coupling axes, RTCP functions. 3. Developed several new Compile Cycle programs for laser tube cutting machines. 4. Proposed a kinematic calibration method for bevel tube laser cutting machines. 5. Developed a data analysis program with Python, using pandas, numpy and plotly libraries.

1. Kinematic modelling of a six-legged robot and a 6-PUS parallel robot. 2. Trajectory planning of the six-legged robot, implemented with C++ in real-time Linux system. 3. Developed a motion control software for the 6-PUS parallel robot based on TwinCAT3. 4. Proposed a kinematic calibration method for the both parallel robots, using a Leica laser tracker. 5. Motion planning based on force perception, verified with MATLAB-Adams co-simulation. 6. Hand-eye calibration of a laser line profile sensor.

Researched on kinematic design, motion control and kinematic calibration of parallel robots and legged robots

Major in Mechanical Design, Manufacturing and Automation