With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programm...This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programming(SOCP)technology is developed to solve the strong nonlinear and non-convex control problem in real time.Specifically,the nonlinear attitude kinematic and dynamic are transformed and relaxed to a standard affine system,and linearization and L1 penalty technique are adopted to convexify non-convex inequality constraints.With the proposed quadratic performance index of angular velocity,the optimal control solution is obtained with high accuracy using the successive SOCP algorithm.Finally,the effectiveness of the algorithm is validated by numerical simulation.展开更多
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
基金This work was supported by the National Natural Science Foundation of China(Nos.61960206011,61633003)the Beijing Natural Science Foundation(No.JQ19017)。
文摘This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programming(SOCP)technology is developed to solve the strong nonlinear and non-convex control problem in real time.Specifically,the nonlinear attitude kinematic and dynamic are transformed and relaxed to a standard affine system,and linearization and L1 penalty technique are adopted to convexify non-convex inequality constraints.With the proposed quadratic performance index of angular velocity,the optimal control solution is obtained with high accuracy using the successive SOCP algorithm.Finally,the effectiveness of the algorithm is validated by numerical simulation.
