Multiple working mode approach to manipulation of unknown mechanisms using a serial robot: A special case of constrained motion with active and passive joints
Bibliographic record
Abstract
Tasks for robots such as opening doors and drawers, and operation of cranks and levers in an unstructured environment pose a challenge for robot control due to unmodelled constraints. A constrained robot manipulator is an over-actuated system in which kinematic modelling errors lead to high internal and external reaction forces. In this work, problems caused by modelling inaccuracies are avoided by reducing the number of position-controlled joints during task execution, such that the number of generalized inputs matches the task degrees of freedom. In this configuration, the manipulator is a minimally actuated system, where the uncontrolled generalized coordinates are task-actuated (passive). We present two criteria for the assignment of active and passive control modes; one based on the coordinate partitioning method for multibody dynamics, and another that that minimizes task friction forces. Simulation results are presented for the case of 1-DOF constrained motion along an elliptical trajectory, similar to a crank turning task.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| 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 | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".