2results about How to "Increase control frequency" patented technology

The invention provides a dexterous hand control method, device and system and a medium, and relates to the technical field of dexterous hands. The dexterous hand control method comprises the steps that the current state quantity of fingers of a dexterous hand and the reference state quantity of the fingers at the future moment are obtained; according to the current state quantity and the reference state quantity, a continuous generalized minimum residual method is adopted to conduct iterative solution on the optimization problem of the finger, the target control quantity of the finger at the future moment is obtained, and the optimization problem is determined according to a dynamic model of the finger; and controlling the finger according to the target control quantity. According to the method, the control precision of the fingers of the dexterous hand is improved by solving the optimization problem, the solution rate of the optimization problem is improved by the continuous generalized minimum residual method, the control efficiency of the fingers of the dexterous hand is improved, and therefore the control precision and response speed of the dexterous hand are improved.

The air conditioner comprises a refrigerant radiator, the refrigerant radiator comprises a heat conduction piece used for cooling a power module, a refrigerant heat dissipation cavity is formed in the heat conduction piece, and a refrigerant can be temporarily stored in the refrigerant heat dissipation cavity when entering the refrigerant heat dissipation cavity, so that the whole heat conduction piece is in a cooling state to uniformly cool the power module; the heat dissipation capability is improved; and when the current temperature exceeds the starting temperature, the controller controls the on-off of the switching device according to the set duty ratio in the set time period, otherwise, the controller controls the switching device to be switched off, so that the heat dissipation efficiency is ensured, condensation is prevented, the condensation risk is reduced on the basis of improving the heat dissipation capability, and the safety is improved.