This paper presents the reverse priority impedance control of manipulators with reference to redundant robots of a given task. The reverse priority kinematic control of redundant manipulators is first expressed in detail. The motion in the joint space is derived following the opposite order compared with the classical task priority–based solution. Then the Cartesian impedance control is combined with the reverse priority impedance control to solve the reverse hierarchical impedance controlled, so that the Cartesian impedance behavior can be divided into the primary priority impedance control and the secondary priority impedance control. Furthermore, the secondary impedance control task will not disturb the primary impedance control task. The motion in the joint space is affected following the opposite order and working in the corresponding projection operators. The primary impedance control tasks are implemented at the end, so as to avoid the possible deformations caused by the singularities occurring in the secondary impedance control tasks. Hence, the proposed reverse priority impedance control of manipulator can achieve the desired impedance control tasks with proper hierarchy. In this paper, the simulation experiments of the manipulator will verify the proposed reverse priority control algorithm.
The operation mode of distribution network is diversified, and it is difficult to accurately locate the fault point when the fault occurs in the case of multiple power sources and branches. In order to accurately locate the fault point and quickly restore the power supply in the fault-free area, a bisection fault location method based on improved matrix is proposed. According to the feedback information of terminal feeder equipment, the improved matrix algorithm is used to form the grid structure matrix and fault information matrix base on the connection relationship of distribution network. The grid structure matrix reflects the connection relationship between nodes and the power flow direction of the distribution network in normal operation. The fault information matrix is the flow direction of power flowing through terminal equipment when the system fails. According to the grid matrix and fault information matrix, the fault judgment matrix is obtained to judge the fault area. Finally, the dichotomy method is used to judge the fault area and determine the specific fault point. The effectiveness and practicability of the method are verified by an example.
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