Abstract: Embodiments of a disconnector and a switchgear, wherein the disconnector comprises a contact assembly operable to change a status of a circuit, the disconnector arranged in the circuit; shafts adapted to be driven to rotate to operate the contact assembly; and a transmission unit arranged between the shafts and comprising: a plurality of gears coupled to the shafts to enable the shafts to rotate with a mutual engagement of the plurality of gears; and a holding assembly adapted to hold radial positions of the plurality of gears to ensure the mutual engagement of the plurality of gears. By arranging the holding assembly to hold the radial positions of the gears to ensure the mutual engagement of the plurality of gears, only one input shaft and one transmission unit are enough to transmit large torques sufficient to operate the contact assembly.

Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n?3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

Abstract: Disclosed are a polyethylene glycol conjugate drug, and a preparation method therefor and the use thereof. Specifically, the present invention relates to a polyethylene glycol conjugate drug represented by formula A or a pharmaceutically acceptable salt thereof, a method for preparing the polyethylene glycol conjugate drug or the pharmaceutically acceptable salt thereof, an intermediate for preparing the polyethylene glycol conjugate drug or the pharmaceutically acceptable salt thereof, a pharmaceutical composition comprising the polyethylene glycol conjugate drug or the pharmaceutically acceptable salt thereof, and the use of the polyethylene glycol conjugate drug or the pharmaceutically acceptable salt thereof in the preparation of a drug.

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

Abstract: A polyethylene glycol conjugate drug synergist, a preparation method therefor, and use thereof, specifically relating to a polyethylene glycol conjugate drug synergist as shown in formula I or a pharmaceutically acceptable salt thereof, a preparation method for the polyethylene glycol conjugate drug synergist or the pharmaceutically acceptable salt thereof, an intermediate for preparing the polyethylent glycol conjugate drug synergist or the pharmaceutically acceptable salt thereof, a composition containing the polyethylene glycol conjugate drug synergist or the pharmaceutically acceptable salt thereof, and use of the polyethylene glycol conjugate drug synergist or the pharmaceutically acceptable salt thereof in preparation of a drug.

Abstract: Embodiments of the present disclosure provide a switch assembly for a detection unit of a switchgear or controlgear.

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

Abstract: A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.

Abstract: A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.

Abstract: Embodiments of a disconnector and a switchgear, wherein the disconnector comprises a contact assembly operable to change a status of a circuit, the disconnector arranged in the circuit; shafts adapted to be driven to rotate to operate the contact assembly; and a transmission unit arranged between the shafts and comprising: a plurality of gears coupled to the shafts to enable the shafts to rotate with a mutual engagement of the plurality of gears; and a holding assembly adapted to hold radial positions of the plurality of gears to ensure the mutual engagement of the plurality of gears. By arranging the holding assembly to hold the radial positions of the gears to ensure the mutual engagement of the plurality of gears, only one input shaft and one transmission unit are enough to transmit large torques sufficient to operate the contact assembly.

Abstract: Embodiments of the present disclosure relate to a switch device, comprising: a first three-position switch; a second three-position switch disposed below the first three-position switch; a circuit breaker disposed between the first three-position switch and the second three-position switch. A first interlock unit is disposed above the circuit breaker and connected to the circuit breaker and the first three-position switch, and configured to block a manual operation of the first three-position switch in a closed state of the circuit breaker, and configured to block a manual closing operation of the circuit breaker while the first three-position switch is manually operated in an open state of the circuit breaker.

Abstract: Embodiments of the present disclosure relate to a switch device, comprising: a first three-position switch; a second three-position switch disposed below the first three-position switch; a circuit breaker disposed between the first three-position switch and the second three-position switch. A first interlock unit is disposed above the circuit breaker and connected to the circuit breaker and the first three-position switch, and configured to block a manual operation of the first three-position switch in a closed state of the circuit breaker, and configured to block a manual closing operation of the circuit breaker while the first three-position switch is manually operated in an open state of the circuit breaker.

Abstract: A gel for protein electrophoresis includes a separating gel and a stacking gel disposed on the separating gel. The separating gel is a polyacrylamide gel including a surfactant, and is alkaline. The surfactant of the separating gel includes 0.025-0.1% (m/v) of sodium lauroyl sarcosinate. The ratio of the molar concentration of the surfactant to the mass concentration of a loading protein is between 0.04 mmol/g and 11.56 mmol/g.

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

Abstract: A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.