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Conceptual design and control method for a noncontact annular electromagnetic stabilized satellite platform

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Chinese Journal of Aeronautics 2024年第1期37卷 256-270页

作者： He LIAO Daixin WANG Yuan REN Weijie WANG Institute of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Basic Course Space Engineering UniversityHuairou DistrictBeijing 101416China

Disturbance-Free Payload(DFP)spacecraft can meet the requirements of ultra-high attitude pointing accuracy and stability for future space missions.However,as the main control actuators of DFP spacecraft,Linear Non-Contact Lorentz Actuators(LNCLAs)have control output problems with six-degree-of-freedom coupling and nonlinear effects,which will affect the attitude control performance of DFP spacecraft.To solve this problem,a novel concept for Non-Contact Annular Electromagnetic Stabilized Satellite Platform(NCAESSP)is proposed in this study.The concept is centered on replacing the LNCLAs with a non-contact annular electromagnetic actuator to solve the two problems mentioned above.Furthermore,for the different control requirements of the payload module and the support module of the NCAESSP,a high-precision attitude controller based on the robust model matching method and a dual quaternion-based adaptive sliding mode controller are proposed.Additionally,the simulation results verify the feasibility and effectiveness of the proposed approach.

关键词： Disturbance-free payload Robust model matching dual quaternion Sliding mode control Collision avoidance

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dual quaternion based virtual hand interaction modeling

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Science China(Information Sciences) 2013年第3期56卷 27-37页

作者： CHEN WenFeng ZHU ShuJing WAN HuaGen FENG JieQing State Key Laboratory of CAD & CG Zhejiang University

Virtual hands play key roles in three-dimensional interaction in various virtual reality applications.However,their visual realism has seldom been seriously discussed in the community of human computer interaction,not to mention the challenging balance between their visual/motion realism and real-time performance.In this paper,a novel approach for virtual hand interaction modeling based on dual quaternion is proposed.Specifically,dual quaternion blending(DQB) is introduced as pseudo muscular layer of our virtual hand model instead of traditional linear blending(LB) and quaternion blending(QB) due to its advantages in muscular deformation.A framework for virtual hand interaction is proposed which supports both gesture interactions and 3D manipulations.Experimental results show that our proposed virtual hand interaction model is suitable for most virtual reality applications and achieves good visual/motion realism while maintains real-time performance.

关键词： virtual reality virtual hand interaction dual quaternion gesture interaction 3D manipulation

Integrated modeling of spacecraft relative motion dynamics using dual quaternion

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Journal of Systems Engineering and Electronics 2018年第2期29卷 367-377页

作者： PENG Xuan SHI Xiaoping GONG Yupeng Control and Simulation Center Harbin Institute of Technology Research Center of Satellite Technology Harbin Institute of Technology

To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.

关键词： relative motion dual quaternion position and attitude coupling integrated modeling

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Closed Form Solution for Relative Orientation Using dual quaternion

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Closed Form Solution for Relative Orientation Using Dual Qua...

Multi-spacecraft position-attitude coupling model based on dual quaternion

2009年度海峡两岸工程力学研讨会

作者： Yi-Te Chiang Yang-Hsing Lin 姜義德 Dept.of Electrical Engineering Lee-Ming Institute of Technology Dept of Electrical Engineering National Taiwan University 职黎明技术学院电机系

In this thesis,we use dual quaternion to solve relative orientation in closed-form,which replaces the traditional way of coplanarity condition and least square solution.The best benefit of dualquaternion is that it is able to handle rotation and translation simultaneously and apply continuous product of dual quaternion operating with a kind of special vector,named dual vector to express a serious of rotation and translation.We use two cameras to observe the target lines,and find the lines respect to RIGHT coordinate system.And solve the relative orientation in closed form by finding eigenvectors.Because of the benefit of dual quaternion-easily to handle and express a serious of transformation,we make above solution more practically and reality using dual-quaternion.

关键词： quaternion dual quaternion relative orientation.

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Multi-spacecraft position-attitude coupling model based on d...

Research on the Measurement in RVD Based on dual quaternion

第37届中国控制会议

作者： Chengchen Deng Zhen Shi Xinzhu Sun XiANDe Wu Wenbin Bai Shiyi Li Qingrui Zhou Yong Hao College of Automation Harbin Engineering University College of Aerospace and Civil Engineering Harbin Engineering University Qian Xuesen Laboratory of Space Technology

With the development of space science and technology, the requirements of spacecraft are increasing, and it is significant to research the multi-spacecraft system model. Based on the dual quaternion theory, this paper deduces the coupling kinematics equation of multi-spacecraft, and points out the coupling effect of relative position and attitude. After that, the simulation analysis of 6 kinds of multi-spacecraft is carried out based on the established multi-spacecraft position and orbit integration model, in which the six cases are 5, 15, 25, 35, 45 and 55 satellites respectively. Finally, the correctness and practicability of the model are verified by comparing between Matlab and STK simulation results.

关键词： Attitude-position coupling model dual quaternion Multi-spacecraft

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Research on the Measurement in RVD Based on Dual Quaternion

Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot

2011 Chinese Control and Decision Conference（CCDC）

作者： Guangren Duan Ze Zhang,Yong Sun are with Faculty of Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,China.

the measurement of the final approaching part in Rendezvous and Dock are all based on computer vision,the basic ideas are:In the close part utilizing the camera to catch the motion parameters and the traditional method is a process of solving the rotation matrix and the translation vector.In this method the imaging is the most important part.The shortcomings of this method are the decomposition of the integrity for the rigid motion.In this paper,the dual quaternion is used.It overcomes the shortcomings of the former method,the rotation and translation relationship between the two coordinates is considered on the same time.Finally,the simulation shows the method.

关键词： Rendezvous and Docking Vision Measurement dual quaternion Rotation Matrix Translation Vector

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Frontiers of Mechanical Engineering 2022年第3期17卷 91-108页

作者： Yanwen SUN Bo PAN Yili FU State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150001China

Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive control.The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes.Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control algorithm.We proposed a novel two-step modified dual quaternion for hand-eye calibration in this study.The dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate solution.The obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination criterion.Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system.We extensively compared the proposed method with state-of-the-art methods.Results demonstrate this method can improve the calibration accuracy.The effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was developed.The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand-eye calibration intuitive control surgical robot dual quaternion

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

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Chinese Journal of Mechanical Engineering 2020年第4期33卷 30-44页

作者： Xinming Huo Shuofei Yang Binbin Lian Tao Sun Yimin Song Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300350China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityKowloon 999077Hong KongChina

Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.

关键词： Robotic mechanism Integrated method Matrix Lie group dual quaternion Finite screw

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The Kinematics Algorithm of 3RPS Mechanism with Compound Sphere Joint

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Journal of Harbin Institute of Technology(New series) 2013年第6期20卷 91-96页

作者： Wan-Yong Zhou Wu-Yi Chen Xian-Guo Han Fang Zou School of Mechanical Engineering and Automation Beihang University Beijing Aeronautical Manufacturing Technology Research Institute

The new schemes for the kinematics algorithm of traditional 3RPS and 3RPS with compound sphere joint were presented. The kinematics algorithm of traditional 3RPS was established by quaternion,and the constraint equation of compound sphere joint was established by DH method based on dual quaternion,and then the kinematics algorithm of 3RPS with compound sphere joint was gotten by replacing the constraint equation of spherical hinge with compound sphere joint. Compound sphere joint was determined by three revolving joints.The proposed method is applicable to any position and orientation of three revolving joints and can analyze systematic errors during manufacturing and calculating process. Examples were used to verify that this method can calculate fast with good reliability.

关键词： 3RPS mechanism Compound sphere joint quaternion dual quaternion DH method