2003－2011, Shanghai Jiao Tong University Mechanical Engineering, Doctor
1999－2003, Nanjing University of Aeronautics and Astronautics Mechanical Engineering, Bachelor

2019－Present, Shanghai Jiao Tong University, Professor
2016－2019, Shanghai Jiao Tong University, Associate Professor
2013－2015, Shanghai Jiao Tong University, Assistant Researcher
2011－2012, University of Bremen, Post-doctoral scholar

1. Robot Dynamics and Control
2. Robotic Machining and Manipulation
3. Robot Learning

2023-2026 Dynamics and control for ultrasonic vibration assisted robotic milling of surfaces, supported by the National Natural Science Foundation (PI).
2020-2024 Design theory and method of parallel robots for high-performance manufacturing of large aircraft structures, supported by the National Natural Science Foundation (Co-PI).
2019-2021 Digital manufacturing technology and equipment, supported by the National Natural Science Foundation (PI).
2017-2019 Dynamics and time-delayed control of pneumatically-driven continuum robots, supported by the National Natural Science Foundation (PI).
2014-2016 Dynamic modeling and stability analysis for flank milling of surfaces, supported by the National Natural Science Foundation (PI).

Selected publications：
1. G. Sun, Y. Ding and X. Zhu, "A geometric method for base parameter analysis in robot inertia identification based on projective geometric algebra," International Journal of Robotics Research, (in press).
2. G. Sun, and Y. Ding, "Sequential physically consistent dynamic parameter identification in parallel robots," IEEE Robotics and Automation Letters, vol. 11, no. 3, pp. 2362-2369, 2026.
3. H. Li, and Y. Ding, "Robust trajectory tracking of redundantly actuated parallel manipulators based on orthogonal moving frames," Nonlinear Dynamics, vol. 143, no. 3, 215, 2026.
4. H. Ying, and Y. Ding, "Deep bilinear models on manifolds for redundantly actuated constrained mechanisms: dynamics modeling and model predictive control," Nonlinear Dynamics, vol. 114, no. 1, 21, 2026.
5. H. Lyu, T. Hou, Y. Lei, and Y. Ding, "A spectral-integral-formula-based method for fast and matrix exponentials free milling stability prediction," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 148, no. 1, p. 010502, 2026.
6. H. Li, and Y. Ding, "Indirect collocation method in multiple minimal coordinates for optimal control of constrained mechanical systems," International Journal for Numerical Methods in Engineering, vol. 126, no. 22, e70184, 2025.
7. Z. Shi, Y. Cao, and Y. Ding, "One-step contour error pre-compensation with tracking error identification for multi-axis machining," IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 5698-5709, 2025.
8. T. Hou, Y. Lei, and Y. Ding, "Chatter-free process parameter optimization for robotic machining of pockets with the spiral tool path," Journal of Manufacturing Processes, vol. 150, pp. 1241-1259, 2025.
9. Q. Li, and Y. Ding, "Dynamic modeling and analysis of geometrically exact beams based on geometric algebra," Journal of Computational and Nonlinear Dynamics, Transactions of the ASME, vol. 20, no. 9, p. 091006, 2025.
10. Y. Cao, Z. Shi, and Y. Ding, "A lightweight calibration and compensation framework for high-precision mobile robotic system under heavy load," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 17, no. 11, p.111007, 2025.
11. H. Ying, and Y. Ding, "Data-driven bilinear models on manifolds for dynamic modelling of constrained mechanisms," Nonlinear Dynamics, vol. 113, no. 16, pp. 20589-20604, 2025.
12. J. Zhang, T. Hou, Y. Ding, B. Zhang, and H. Liu, "On the passive virtual viscous element injection method for elastic joint robots," IEEE Transactions on Robotics, vol. 41, pp. 4078-4099, 2025.
13. W. Zhang, Z. Shi, X. Chai, and Y. Ding, "Real-time smooth trajectory generation for five-axis hybrid machining robots with velocity profile blending," IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 13932-13952, 2025.
14. S. Zhang, and Y. Ding, "Toolpath optimization based on sequential quadratic programming for five-axis flat-end milling with hybrid robots," Journal of Manufacturing Processes, vol. 141, pp. 1619-1630, 2025.
15. S. Xu, K. Tang, L. Xu, and Y. Ding, "Design, analysis, and validation of a passive parallel continuum ankle exoskeleton for support and walking assistance," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 17, no. 3, p. 031003 (14 pages), 2025.
16. Z. Lin, Y. Ding, and X.Y. Zhu, "A redundancy-aware error model for kinematic calibration of redundantly actuated overconstrained parallel robots," IEEE/ASME Transactions on Mechatronics, vol. 29, no. 6, pp. 4203-4214, 2024.
17. S. Sui, and Y. Ding, "Solving the AXB=YCZ problem for a dual-robot system with geometric calculus," IEEE Transactions on Automation Science and Engineering, vol. 21, no. 3, pp. 4627-4645, 2024.
18. Z. Lin, H. Li, Y. Ding, and X.Y. Zhu, "Variational integrators on manifolds for constrained mechanical systems," Journal of Applied Mechanics, Transactions of the ASME, vol. 91, no. 7, p. 071009 (10 pages), 2024.
19. J. Yuan, J. Li, W. Wei, and Y. Ding, "Prediction of the waviness error in ultra-precision fly cutting using the direct integration method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 146, no. 5, p. 051007 (15 pages), 2024.
20. M. Xiao, Y. Ding, and S. Fan, "One-finger manipulation of 3D objects by planning start-to-push points and pushing forces," IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2694-2701, 2024.
21. W. Zhang, Z. Shi, X. Chai, and Y. Ding, "An efficient kinematic calibration method for parallel robots with compact multi-degrees-of-freedom joint models," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 16, no. 10, p. 101011 (18 pages), 2024.
22. T. Hou, Y. Ding, and X.Y. Zhu, "A geometric framework for stiffness mappings of compliant robotic systems on the special Euclidean group," IEEE Transactions on Robotics, vol. 40, pp. 2181-2200, 2024.
23. Z. Shi, W. Zhang, and Y. Ding, "Real-time interpolation with low-pass filtering for five-axis hybrid machining robots," Mechanical Systems and Signal Processing, vol. 209, 111080, 2024.
24. S. Zhang, Z. Shi, and Y. Ding, "Toolpath smoothing with reduced curvature and synchronized motion for hybrid robots," Journal of Manufacturing Processes, vol. 109, pp. 181-197, 2024.
25. L. Xu, X. Chai, and Y. Ding, "Design of a 2RRU-RRS parallel kinematic mechanism for an inner-cavity machining hybrid robot," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 16, no. 5, p. 054501 (7 pages), 2024.
26. L. Xu, X. Chai, and Y. Ding, "Design and analysis of a reconfigurable hybrid robot for machining of large workpieces," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 16, no. 5, p. 051001 (18 pages), 2024.
27. Y. Chen, Y. Lu, and Y. Ding, "Toolpath generation for robotic flank milling via smoothness and stiffness optimization," Robotics and Computer-Integrated Manufacturing, vol. 85, 102640, 2024.
28. J. Yuan, J. Li, and Y. Ding, "Modified modeling and internal model control method of thrust ripples in PMLSMs for ultraprecision air-bearing linear feed systems," Precision Engineering, vol. 85, pp. 102-112, 2024.
29. G. Sun, and Y. Ding, "High-order inverse dynamics of serial robots based on projective geometric algebra," Multibody System Dynamics, vol. 59, no. 3, pp. 337-362, 2023.
30. G. Sun, and Y. Ding, "An analytical method for sensitivity analysis of rigid multibody system dynamics using projective geometric algebra," Journal of Computational and Nonlinear Dynamics, Transactions of the ASME, vol. 18, no. 11, p. 111002 (11 pages), 2023.
31. Y. Ding, and Y. Chen, "Point pair-based expression of cutter swept envelopes in five-axis milling," Computer-Aided Design, vol. 163, 103588, 2023.
32. Z. Lin, L. Xu, Y. Ding, and X.Y. Zhu, "A 2R1T redundantly actuated parallel manipulator with an offset moving platform and fixed linear actuators," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 15, no. 4, p. 041016 (12 pages), 2023.
33. T. Hou, Y. Lei, and Y. Ding, "Pose optimization in robotic milling based on surface location error," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 145, no. 8, p. 084501 (9 pages), 2023.
34. Y. Lei, T. Hou, and Y. Ding, "Stability analysis of pocket machining with the spiral tool path using the discontinuous Galerkin method," Journal of Manufacturing Processes, vol. 92, pp. 12-31, 2023.
35. Z. Shi, W. Zhang, and Y. Ding, "A local toolpath smoothing method for a five-axis hybrid machining robot," Science China Technological Sciences, vol. 66, no. 3, pp. 721-742, 2023.
36. Y. Chen, and Y. Ding, "Posture optimization in robotic flat-end milling based on sequential quadratic programming," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 145, no. 6, p. 061001 (12 pages), 2023.
37. Y. Lei, T. Hou, and Y. Ding, "Prediction of the posture-dependent tool tip dynamics in robotic milling based on multi-task Gaussian process regressions," Robotics and Computer-Integrated Manufacturing, vol. 81, 102508, 2023.
38. H.C. Li, and Y. Ding, "A Hamiltonian formulation on manifolds for dynamic modeling of constrained mechanisms and energy-preserving integration," Journal of Applied Mechanics, Transactions of the ASME, vol. 89, no. 12, p. 121007 (17 pages), 2022.
39. Y. Chen, P. Huang, and Y. Ding, "An analytical method for corner smoothing of five-axis linear paths using the conformal geometric algebra," Computer-Aided Design, vol. 153, 103408, 2022.
40. T. Fang, and Y. Ding, "A sampling-based motion planning method for active visual measurement with an industrial robot," Robotics and Computer-Integrated Manufacturing, vol. 76, 102322, 2022.
41. M. Xiao, Y. Ding, and G.L. Yang, "A model-based trajectory planning method for robotic polishing of complex surfaces," IEEE Transactions on Automation Science and Engineering, vol. 19, no. 4, pp. 2890-2903, 2022.
42. Y. Ren, and Y. Ding, "Online milling chatter identification using adaptive Hankel low-rank decomposition," Mechanical Systems and Signal Processing, vol. 169, 108758, 2022.
43. Y. Chen, W. Dong, and Y. Ding, "An efficient method for collision-free and jerk-constrained trajectory generation with sparse desired way-points for a flying robot," Science China Technological Sciences, vol. 64, pp. 1719-1731, 2021.
44. S. Xu, and Y. Ding, "Real-time recognition of human lower-limb locomotion based on exponential coordinates of relative rotations," Science China Technological Sciences, vol. 64, pp. 1423-1435, 2021.
45. J. Peng, P. Huang, Y. Ding, and H. Ding, "An analytical method for decoupled local smoothing of linear paths in industrial robots," Robotics and Computer-Integrated Manufacturing, vol. 72, 102193, 2021.
46. M. Xiao, and Y. Ding, "Contact kinematics between three-dimensional rigid bodies with general surface parameterization," Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 13, no. 2, p. 021006 (11 pages), 2021.
47. X. Luo, M. Xiao, Y. Ding, and H. Ding, "Hysteresis modeling and compensation of a pneumatic end-effector based on Gaussian process regression," Sensors & Actuators: A. Physical, vol. 315, 112227, 2020.
48. M. Xiao, Y. Ding, Z. Fang, and G.L. Yang, "Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces," Precision Engineering, vol. 66, pp. 188-200, 2020.
49. J. Peng, Y. Ding, G. Zhang, and H. Ding, "Smoothness-oriented path optimization for robotic milling processes," Science China Technological Sciences, vol. 63, no. 9, pp. 1751-1763, 2020.
50. W. Dong, S. Liu, Y. Ding, X.J. Sheng, and X.Y. Zhu, "An artificially weighted spanning tree coverage algorithm for decentralized flying robots," IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp. 1689-1698, 2020.
51. G. Xiong, Z. Li, Y. Ding, and L. Zhu, "A closed-loop error compensation method for robotic flank milling," Robotics and Computer-Integrated Manufacturing, vol. 63, 101928, 2020.
52. J. Peng, Y. Ding, G. Zhang, and H. Ding, "An enhanced kinematic model for calibration of robotic machining systems with parallelogram mechanisms," Robotics and Computer-Integrated Manufacturing, vol. 59, pp. 92-103, 2019.
53. W. Dong, Y. Ding, L. Yang, X.J. Sheng, and X.Y. Zhu, "An efficient approach for stability analysis and parameter tuning in delayed feedback control of a flying robot carrying a suspended load," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 141, no. 8, p. 081015 (10 pages), 2019.
54. J. Xu, M. Xiao, and Y. Ding, "Modeling and compensation of hysteresis for pneumatic artificial muscles based on Gaussian mixture models," Science China Technological Sciences, vol. 62, no. 7, pp. 1094-1102, 2019.
55. W. Dong, Y. Ding, J. Huang, L. Yang, and X.Y. Zhu, "An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots," Robotics and Autonomous Systems, vol. 115, pp. 73-82, 2019.
56. Z. Wen, Y. Ding, P. Liu, and H. Ding, "An efficient identification method for dynamic systems with coupled hysteresis and linear dynamics," IEEE/ASME Transactions on Mechatronics, vol. 24, no. 1, pp. 326-337, 2019.
57. G. Xiong, Y. Ding, and L.M. Zhu, "Stiffness-based pose optimization of an industrial robot for five-axis milling," Robotics and Computer-Integrated Manufacturing, vol. 55, pp. 19-28, 2019.
58. J.B. Niu, Y. Ding, Z. Geng, L.M. Zhu, and H. Ding, "Patterns of regenerative milling chatter under joint influences of cutting parameters, tool geometries and runout," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 140, no. 12, p. 121004 (19 pages), 2018.
59. J. Xi, Z. Dong, Y. Ding, P. Liu, and H. Ding, "An adaptive 2DoF P-PI controller based on an improved just-in-time learning technique for ultra-low-velocity linear stages driven by PMLSMs," Precision Engineering, vol. 52, pp. 392-406, 2018.
60. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Mechanics and multi-regenerative stability of variable pitch and variable helix milling tools considering runout," International Journal of Machine Tools and Manufacture, vol. 123, pp. 129-145, 2017.
61. C.X. Li, Y. Ding, G.Y. Gu, and L.M. Zhu, "Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 855-864, 2017.
62. W. Dong, Y. Ding, J. Huang, X.Y. Zhu, and H. Ding, "An efficient approach of time-optimal trajectory generation for the fully autonomous navigation of the quadrotor," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 6, p. 061012 (9 pages), 2017.
63. Z. Wen, Y. Ding, P.K. Liu, and H. Ding, "Direct integration method for time-delayed control of second-order dynamic systems," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 6, p. 061001 (9 pages), 2017.
64. Y.A. Lu, Y. Ding, and L.M. Zhu, "Dynamics and stability prediction of five-axis flat-end milling," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 139, no. 6, p. 061015 (11 pages), 2017.
65. W. Dong, Y. Ding, X.Y. Zhu, and H. Ding, "Differential quadrature method for stability and sensitivity analysis of neutral delay differential systems," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 139, no. 4, p. 044504 (7 pages), 2017.
66. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Stability analysis of milling processes with periodic spindle speed variation via the variable-step numerical integration method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 138, no. 11, p. 114501 (11 pages), 2016.
67. Y.A. Lu, Y. Ding, and L.M. Zhu, "Smooth tool path optimization for flank milling based on the gradient-based differential evolution method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 138, no. 8, p. 081009 (11 pages), 2016.
68. Y. Ding, J.B. Niu, L.M. Zhu, and H. Ding, "Numerical integration method for stability analysis of milling with variable spindle speeds," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 138, no. 1, p. 011010 (11 pages), 2016.
69. W. Dong, Y. Ding, X.Y. Zhu, and H. Ding, "Optimal proportional-integral-derivative control of time-delay systems using the differential quadrature method," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 137, no. 10, p. 101005 (8 pages), 2015.
70. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Eigenvalue assignment for control of time-delay systems via the generalized Runge-Kutta method," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 137, no. 9, p. 091003 (7 pages), 2015.
71. Y. Ding, X.J. Zhang, and H. Ding, "A Legendre polynomials based method for stability analysis of milling processes," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 137, no. 2, p. 024504 (7 pages), 2015.
72. Y. Ding, X.J. Zhang, and H. Ding, "Harmonic differential quadrature method for surface location error prediction and machining parameter optimization in milling," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 137, no. 2, p. 024501 (6 pages), 2015.
73. Y. Ding, L.M. Zhu, and H. Ding, "A wavelet-based approach for stability analysis of periodic delay-differential systems with discrete delay," Nonlinear Dynamics, vol. 79, no. 2, pp. 1049-1059, 2015.
74. Y. Ding, J.B. Niu, L.M. Zhu, and H. Ding, "Differential quadrature method for stability analysis of dynamic systems with multiple delays: application to simultaneous machining operations," Journal of Vibration and Acoustics, Transactions of the ASME, vol. 137, no. 2, p. 024501 (8 pages), 2015.
75. J.B. Niu, Y. Ding, L.M. Zhu, and H. Ding, "Runge-Kutta methods for a semi-analytical prediction of milling stability," Nonlinear Dynamics, vol. 76, no. 1, pp. 289-304, 2014.
76. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Stability analysis of milling via the differential quadrature method," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 135, no. 4, p. 044502 (7 pages), 2013.
77. H. Ding, Y. Ding, and L. Zhu, "On time-domain methods for milling stability analysis," Chinese Science Bulletin, vol. 57, no. 33, pp. 4336-4345, 2012.
78. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Response sensitivity analysis of the dynamic milling process based on the numerical integration method," Chinese Journal of Mechanical Engineering, vol. 25, no. 5, pp. 940-946, 2012.
79. X.J. Zhang, C.H. Xiong, Y. Ding, M.J. Feng, and Y.L. Xiong, "Milling stability analysis with simultaneously considering the structural mode coupling effect and regenerative effect," International Journal of Machine Tools and Manufacture, vol. 53, no. 1, pp. 127-140, 2012.
80. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Milling stability analysis using the spectral method," Science China Technological Sciences, vol. 54, no. 12, pp. 3130-3136, 2011.
81. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Numerical integration method for prediction of milling stability," Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 133, no. 3, p. 031005 (9 pages), 2011.
82. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "On a numerical method for simultaneous prediction of stability and surface location error in low radial immersion milling," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, vol. 133, no. 2, p. 024503 (8 pages), 2011.
83. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "Second-order full-discretization method for milling stability prediction," International Journal of Machine Tools and Manufacture, vol. 50, no. 10, pp. 926-932, 2010.
84. Y. Ding, L.M. Zhu, X.J. Zhang, and H. Ding, "A full-discretization method for prediction of milling stability," International Journal of Machine Tools and Manufacture, vol. 50, no. 5, pp. 502-509, 2010.

1. Robotics
Teaching Target: Undergraduate students
Credit Hours: 48
Credits: 3

2. Numerical methods in engineering
Teaching Target: Undergraduate students
Credit Hours: 48
Credits: 3

3. MATLAB and its applications in engineering
Teaching Target: Undergraduate students
Credit Hours: 48
Credits: 3

1. 2018 - Present, Associate Editor, Science China Technological Sciences
2. 2025 - Present, Associate Editor, IEEE Transactions on Automation Science and Engineering
3. 2025 - Present, Associate Editor, Robotica
4. 2021 - Present, Associate Editor, Frontiers in Manufacturing Technology
5. 2007－Present, ASME Member
6. 2011－Present, IEEE Member

The Alexander von Humboldt Foundation award, Germany, 2011.