Papers
8
Total Citations
60
H-Index
4
About
Dr. Tao Ming Lim is a leading researcher in robotic manipulation, whose work has fundamentally advanced the control of robots during physical contact and interaction. His primary research areas include singularity-robust control, operational space control, and compliant motion for industrial manipulators. Dr. Lim’s most significant contribution is his pioneering method for handling singularities by introducing virtual redundant joints into the Jacobian matrix, a technique detailed in his highly cited 2003 paper (14 citations). He has also made critical advances in multi-rate operational space control, enabling more stable hybrid motion and force control in the presence of model uncertainties (2009, 12 citations). His work on nonlinear damping for robotic force control (2012, 10 citations) directly addresses the challenge of reducing contact-force overshoot to improve manufacturing productivity. With a career spanning from dynamics identification (1999, 11 citations) to autonomous indoor vehicles (2014), Dr. Lim’s research bridges theoretical control frameworks with practical industrial applications, making him a key figure in the development of safer, more efficient robotic systems for contact-intensive tasks.
Research Focus
Key Achievements
Top Papers
- 1Singularity robust manipulator control using virtual joints14 citations · 2003
- 2
- 3Dynamics Identification and Control of an Industrial Robot11 citations · 1999
- 4
- 5Autonomous In-door Vehicles4 citations · 2014
- 6An analysis of the operational space control of robots4 citations · 2010
- 7Implementation of an output feedback controller in operational space3 citations · 2004
- 8A feasible work-piece placement method for contact-type operations2 citations · 2013