{"id":"W2613154345","doi":"10.1016/s1474-6670(17)31184-9","title":"Design and Optimization of a Closed-Chain Mechanism for Constrained Position and Force Control","year":2004,"lang":"en","type":"article","venue":"IFAC Proceedings Volumes","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":1,"is_retracted":false,"has_abstract":false,"ca_institutions":"Western University","funders":"","keywords":"Linkage (software); Workspace; Kinematics; Control theory (sociology); Mechanism (biology); Kinematic chain; Position (finance); Torque; Link (geometry); USable; Stiffness; Parallel manipulator; Planar; Chain (unit); Engineering; Robot end effector; Computer science; Control engineering; Control (management); Robot; Structural 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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001419964,0.0001163235,0.0001745074,0.0000613891,0.00005366946,0.00003859999,0.00003491411,0.00008955177,0.000001922752],"category_scores_gemma":[0.00004167002,0.0001208626,0.00002137021,0.00005114382,0.00003225992,0.0001560484,0.000007880253,0.00004135627,1.613459e-7],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002448931,"about_ca_system_score_gemma":0.00001183963,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000003706202,"about_ca_topic_score_gemma":3.614667e-7,"domain_scores_codex":[0.9994632,0.000001869166,0.0001732372,0.0001431036,0.00007151338,0.0001470722],"domain_scores_gemma":[0.999721,0.00002952541,0.00005230483,0.00003199455,0.0001113782,0.00005380947],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00004030882,0.00001190239,0.000008595342,0.0002276752,0.0000361385,4.552512e-7,0.0003905942,0.6815575,0.05552199,0.2609825,0.000008093743,0.001214293],"study_design_scores_gemma":[0.001452708,0.0001990129,0.00000823613,0.00005520386,0.00004140264,0.00001986042,0.0001219131,0.9240156,0.007746688,0.06621813,4.863761e-7,0.0001207306],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01830175,0.00006676415,0.9806713,0.000109213,0.00004694498,0.0006030964,0.00001119238,0.0001064654,0.00008331536],"genre_scores_gemma":[0.5492489,0.00003683613,0.4506118,0.00002765086,0.00001346371,0.00003091597,0.000002945334,0.00001604496,0.00001139438],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.5309472,"threshold_uncertainty_score":0.4928632,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.006108749555011206,"score_gpt":0.1875323267373054,"score_spread":0.1814235771822942,"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."}}