Experimental H/sub ∞/ control of a single flexible link with a shoulder joint
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Bibliographic record
Abstract
In this paper, H/sub /spl infin// control of a single flexible link with a shoulder joint is discussed. The cross-section of the flexible link is such that only horizontal vibrations are possible. Simulations were performed using a simplified model. An H/sub /spl infin// controller was designed that provides a fast step response with low overshoot, but inadequate disturbance rejection. Experiments were performed using a five-bar robot with one side joint locked. Using linear transfer functions obtained via system identification for several beam inclinations, an H/sub /spl infin// controller was found that has a good step response with the exception of large overshoot. Trajectory tracking is also shown. The performance is compared to that of a conventional PID controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it