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Dynamic modelling and simulation of squirrel-cage asynchronous machine with non-linear effects 非线性效应鼠笼式异步电机的动态建模与仿真
Journal of Exact Sciences Pub Date : 2005-06-01 DOI: 10.1520/JAI14018
O. Okoro, B. Weidemann, B. Oswald
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引用次数: 13
Singularity-consistent teleoperation techniques for redundant free-flying robots 冗余自由飞行机器人的奇异一致性遥操作技术
Journal of Exact Sciences Pub Date : 1999-08-09 DOI: 10.2514/6.1999-4305
D. Nenchev, Kazuya Yoshida
{"title":"Singularity-consistent teleoperation techniques for redundant free-flying robots","authors":"D. Nenchev, Kazuya Yoshida","doi":"10.2514/6.1999-4305","DOIUrl":"https://doi.org/10.2514/6.1999-4305","url":null,"abstract":"We analyze the performance of a kinematically redundant, 7 DOF free-flying robot under Cartesian velocity telecontrol. It is shown that the system can be easily destabilized when conventional pseudoinverse redundancy resolution is used, which is due to the presence of algorithmic singularities. A singularity-consistent (SC) solution to the problem is proposed that guarantees stability throughout the feasible motion range. Two SC redundancy resolution techniques are compared: one based on the pseudoinverse of the generalized Jacobian, and another one, based on null space minimization of base attitude disturbance. It is shown that although null space minimization outperforms the pseudoinverse approach in terms of disturbance minimization, this is done at the expense of spurious arm motions. And the gain from the minimization is not sufficient to diminish the disadvantage. Thus, it is concluded that SC pseudoinverse control is a very reliable way of redundancy resolution for a teleoperated arm in space.","PeriodicalId":152873,"journal":{"name":"Journal of Exact Sciences","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123887779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
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