Qianying Zhang

Papers

Total Citations

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About

Qianying Zhang is a robotics researcher whose work centers on the mathematical foundations of robot kinematics and perception. Her most influential contribution, "Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem" (2018, 39 citations), addresses a critical limitation of the traditional Denavit–Hartenberg method. By leveraging screw theory, Zhang provides a more robust solution that avoids the singularities that arise when adjacent joint axes are parallel—a persistent challenge in industrial robot control. This work has become a key reference for researchers seeking computationally stable inverse kinematics. In her more recent work, "Formalization of Camera Pose Estimation Algorithm based on Rodrigues Formula" (2020, 11 citations), Zhang tackles the reliability of robotic vision systems. She applies formal methods to validate the correctness of camera pose estimation algorithms, a crucial step for ensuring safety in autonomous navigation and calibration tasks. While her citation counts reflect a focused, technical audience, Zhang’s contributions are notable for their rigor: she bridges theoretical geometry with practical robotic implementation, offering solutions that are both mathematically elegant and industrially relevant. Her research continues to support the development of more reliable and singularity-free robotic systems.