Bibliographic record
Abstract
The unifying idea for most model-based control approaches for parallel mechanism is to derive a minimal-order dynamics model of the system and then design the corresponding controller. The problem with such a control approach is that the controller needs to change its structure whenever the mechanical system changes its number of degrees-of-freedom. This paper presents a projection-based control scheme for parallel mechanism that works whether the system is overactuated or not; it does not require derivation of the minimal-order dynamics model. Since the dimension of the projection matrix is fixed, the projection-based controller does not need to change its structure whenever the mechanical system changes its number of degrees-of-freedom. The controller also allows to specify lower and upper bounds on the actuator forces/torques, making it suitable not only for the control of parallel manipulators with limited force/torque capability of the actuators but also for backlash-free control of parallel manipulators as well as for control of tendon driven parallel manipulators. The stability of the projection-based controllers is rigourously proved, while the condition for the controllability of parallel manipulators is also derived in detail. Finally, experimental results obtained from a simple parallel mechanism, which changes its degrees-of-freedom, are appended. The results also demonstrate that the maximum actuator torque can be reduced by 20% if the actuator saturation is taken into account by the controller.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".