Yi-Hsin Cheng

National Kaohsiung First University of Science and Technology

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About

Yi-Hsin Cheng is a robotics researcher specializing in energy-efficient trajectory planning and control for precision industrial manipulators. Their core research focuses on minimizing energy consumption in automated handling systems, particularly for fragile LCD glass transport. Cheng’s major contribution is the development of novel minimum-energy trajectory planning algorithms that reduce absolute input energy while maintaining smooth, precise motion. Their most cited work, “Trajectory planning based on minimum absolute input energy for an LCD glass-handling robot” (2013), has garnered 30 citations, establishing a foundation for energy-aware robotics. In related studies, Cheng integrated permanent magnet synchronous motor (PMSM) models with high-degree polynomial trajectories and variable structure controllers (VSC) to compensate for nonlinear friction using the LuGre model. These contributions demonstrate a systematic approach to merging electromechanical system modeling with control theory, achieving both energy savings and tracking accuracy. Cheng’s work is particularly impactful for industries requiring high-precision, low-vibration handling, offering practical solutions that reduce operational costs while protecting delicate materials. Their research bridges theoretical optimization with real-world industrial robotics applications.