{"id":"W2005881501","doi":"10.1115/imece2007-42716","title":"Trajectory Control of an ASEA IRb-6 Manipulator With Singularity Configuration","year":2007,"lang":"en","type":"article","venue":"","topic":"Adaptive Control of Nonlinear Systems","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of British Columbia","funders":"","keywords":"Control theory (sociology); Trajectory; Linear-quadratic-Gaussian control; PID controller; Inverse kinematics; Robustness (evolution); Kinematics; Optimal projection equations; Linear-quadratic regulator; Singularity; Noise (video); Computer science; Mathematics; Optimal control; Control engineering; Engineering; Robot; Mathematical optimization; Artificial intelligence; Control (management); Physics","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0003166739,0.0001292789,0.000228896,0.00007211666,0.00002163717,0.00001279485,0.00007827277,0.00007796397,0.00006106673],"category_scores_gemma":[0.00001479778,0.0001088247,0.00003619605,0.00007614526,0.00003471284,0.0001708044,0.000002310254,0.00009358075,0.00001306976],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0000523267,"about_ca_system_score_gemma":0.00001958709,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0000605063,"about_ca_topic_score_gemma":0.0004438194,"domain_scores_codex":[0.9992039,0.00002394725,0.0002722537,0.0001219646,0.000191106,0.0001868021],"domain_scores_gemma":[0.9994978,0.00005531328,0.00004633474,0.0001974086,0.0001095496,0.00009361527],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.001403685,0.0005165085,0.02063593,0.0004596021,0.0009809232,0.0002015094,0.0009239023,0.07433943,0.8518634,0.02318166,0.0003598144,0.02513358],"study_design_scores_gemma":[0.008853189,0.001158591,0.2374437,0.0001079515,0.0001693371,0.00007753704,0.0008235428,0.6270329,0.117654,0.00007783847,0.005573846,0.001027428],"study_design_candidate":"bench_or_experimental","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3373745,0.00009079316,0.6535243,0.000007581436,0.000112716,0.0002480962,0.000008122186,0.0002043071,0.008429587],"genre_scores_gemma":[0.9961972,3.718694e-7,0.003466484,0.00003051559,0.0001627743,0.00000317505,0.0000095348,0.0000291923,0.0001007371],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.7342094,"threshold_uncertainty_score":0.4437744,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01052849070425246,"score_gpt":0.2170839189496291,"score_spread":0.2065554282453766,"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."}}