A cartesian-based adaptive tracking controller for a SCARA robot
Why this work is in the frame
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Bibliographic record
Abstract
This paper describes the real-time implementation of a cartesian-based controller applied to a 2 DOF direct-drive SCARA robot. This control scheme uses directly path shapes described in cartesian coordinates and therefore avoids the trajectory conversion in joint-based coordinates. This results in a greater precision and reduces drastically the off-line calculations. However, the cartesian-based controller must perform many on-line computations because of the kinematics and other transformations. Moreover, the authors' controller is adaptive and takes into account the full dynamics of the robot. Nevertheless, the authors' cartesian-based adaptive controller is implemented on a single-chip digital signal processor (DSP96002) with minimal hardware. The performance of the controller is illustrated by experimental results showing the tracking of a triangular trajectory. Results obtained with a simple PD controller are also shown for comparison.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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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