Use of the Method of Guidance by a Required Velocity in Control of Spacecraft Attitude

We apply the method of guidance by a required velocity for solving theoptimal control problem over spacecraft’s reorientation from known initialattitude into a required final attitude. We suppose that attitude control iscarried out by impulse jet engines. For optimization of fuel consumption,the controlling moments are calculated and formed according to themethod of free trajectories together with principle of iterative controlusing the quaternions for generating commands to actuators. Optimalsolution corresponds to the principle “acceleration - free rotation - separatecorrections - free rotation - braking”. Rotation along a hitting trajectory issupported by insignificant correction of the uncontrolled motion at discreteinstants between segments of acceleration and braking. Various strategies在自由运动阶段形成校正脉冲的方法是建议。提高实现航天器最终位置的准确性通过终端控制使用有关当前姿态的信息和用于确定开始时刻的角速度测量制动（根据实际运动参数开始制动的条件以分析形式制定）。所描述的方法是通用的并且相对于转动惯量不变。发展的态度法则控制涉及具有预测模型的算法，综合控制模式对于外部扰动和参数错误。数学建模的结果表明证明设计算法的实际可行性和高效率。

A multiple working mode approach to robotic hammering: Analysis and experiments

A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.