Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted...Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.展开更多
模拟投料环境,探索温度、时间、氧化剂NaClO、弱碱NaHCO_(3)、弱酸NaHSO_(3)对DTD分解情况的影响。结果表明:温度低于15℃时DTD分解缓慢,高于15℃时DTD分解迅速,且随时间的延长分解加剧。氧化剂NaClO会造成产物的迅速分解,4 h DTD分解剩...模拟投料环境,探索温度、时间、氧化剂NaClO、弱碱NaHCO_(3)、弱酸NaHSO_(3)对DTD分解情况的影响。结果表明:温度低于15℃时DTD分解缓慢,高于15℃时DTD分解迅速,且随时间的延长分解加剧。氧化剂NaClO会造成产物的迅速分解,4 h DTD分解剩余24.53%。NaHCO_(3)、NaHSO_(3)的加入对DTD的分解影响较小。为避免长时间对收率的影响,合成结束后需迅速进行后处理,对后期工业化生产具有重要的指导意义。展开更多
基金supported in part by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103the Program for New Century Excellent Talents in University under Grand NCET-10-0058
文摘Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.
文摘模拟投料环境,探索温度、时间、氧化剂NaClO、弱碱NaHCO_(3)、弱酸NaHSO_(3)对DTD分解情况的影响。结果表明:温度低于15℃时DTD分解缓慢,高于15℃时DTD分解迅速,且随时间的延长分解加剧。氧化剂NaClO会造成产物的迅速分解,4 h DTD分解剩余24.53%。NaHCO_(3)、NaHSO_(3)的加入对DTD的分解影响较小。为避免长时间对收率的影响,合成结束后需迅速进行后处理,对后期工业化生产具有重要的指导意义。
