{"id":"W2155481220","doi":"10.1109/cdc.1996.573462","title":"Joint velocity compensation for kinematically redundant manipulators","year":2002,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"","keywords":"Redundancy (engineering); Kinematics; Control theory (sociology); Computer science; Compensation (psychology); Robot; Inverse kinematics; Path (computing); Serial manipulator; Robotic arm; Joint (building); Task (project management); Artificial intelligence; Control (management); Parallel manipulator; Engineering; Physics; Classical mechanics","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":[0.0004807709,0.000584498,0.0003965986,0.0006402881,0.0003508697,0.0003427383,0.0006084391,0.0003502237,0.001213358],"category_scores_gemma":[0.001604981,0.0002006541,0.0002129401,0.000402482,0.0004967322,0.0005062389,0.000398616,0.0004129918,0.0004584103],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002368339,"about_ca_system_score_gemma":0.0003390263,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0005893871,"about_ca_topic_score_gemma":0.0006720268,"domain_scores_codex":[0.999558,0.00007870515,0.0000233937,0.00005783209,0.000233951,0.00004821074],"domain_scores_gemma":[0.9996054,0.00009482882,0.0001330281,0.00006321408,0.00008828377,0.00001536721],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0003489405,0.00008475158,0.0008139289,0.000388749,0.0000471512,0.0003851764,0.000358282,0.1753601,0.2231561,0.05695826,0.001514391,0.5405841],"study_design_scores_gemma":[0.0001332466,0.001126961,0.001859339,0.0001088039,0.00007604626,0.001101071,0.0001060814,0.8162668,0.1109484,0.03611128,0.03204893,0.0001130905],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.03128031,0.0006146485,0.96466,0.00006333806,0.00007458522,0.00002290224,0.00001068789,0.0005674239,0.002706099],"genre_scores_gemma":[0.7219879,0.0005206245,0.2735021,0.00005362411,0.00007693836,0.0000524616,0.00007198194,0.00008155004,0.003652761],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001213358,"threshold_uncertainty_score":0.004059136,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0426308899294864,"score_gpt":0.2057338768810003,"score_spread":0.1631029869515138,"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."}}