{"id":"W1511246908","doi":"10.1109/robot.2003.1242217","title":"Inverse and direct dynamics of constrained multibody systems based on orthogonal decomposition of generalized force","year":2004,"lang":"en","type":"article","venue":"","topic":"Dynamics and Control of Mechanical Systems","field":"Engineering","cited_by":17,"is_retracted":false,"has_abstract":true,"ca_institutions":"Canadian Space Agency","funders":"","keywords":"Inverse dynamics; Control theory (sociology); Multibody system; Sylvester's law of inertia; Invertible matrix; Acceleration; Inverse; Constraint (computer-aided design); Generalized inverse; Inertia; Mathematics; Computer science; Symmetric matrix; Physics; Classical mechanics; Kinematics; Control (management)","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002393587,0.0004605018,0.0004524381,0.0002839554,0.0002198718,0.0004856549,0.0003326921,0.0003411049,0.001842881],"category_scores_gemma":[0.0005359925,0.0001887595,0.0005096777,0.0001412363,0.0006959998,0.0007602528,0.0008594086,0.0005270105,0.0001824857],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001631738,"about_ca_system_score_gemma":0.0003019774,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0007393992,"about_ca_topic_score_gemma":0.000624879,"domain_scores_codex":[0.9998178,0.00004086244,0.000008113609,0.00002507989,0.00009511673,0.00001311805],"domain_scores_gemma":[0.9998832,0.00004145014,0.00001877705,0.00002339051,0.00002241234,0.00001068684],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"theoretical_or_conceptual","study_design_scores_codex":[0.0000575616,0.00004921017,0.0005559514,0.0002283555,0.00003970029,0.0002368056,0.000245572,0.4170528,0.03603142,0.4601838,0.001112392,0.08420639],"study_design_scores_gemma":[0.00001071709,0.00005965549,0.0002415321,0.00002272147,0.00001017522,0.0001610483,0.00002912368,0.947037,0.003130106,0.04383576,0.005444258,0.00001778929],"study_design_candidate":"theoretical_or_conceptual","study_design_consensus":"theoretical_or_conceptual","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01136088,0.0003089298,0.9832412,0.00006534842,0.00004293201,0.00002256697,0.00001688946,0.00006476534,0.004876459],"genre_scores_gemma":[0.5960349,0.001225345,0.3953162,0.0000965424,0.00008616855,0.0001650293,0.0001091408,0.00008894158,0.006877662],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001842881,"threshold_uncertainty_score":0.006165087,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.004829392983636024,"score_gpt":0.2051179080275006,"score_spread":0.2002885150438646,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}