Contour tracking control for multi-DOF robotic manipulators
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, a new position domain PD control is proposed to control a multi-DOF nonlinear robotic manipulator for the purpose of improving contour tracking performance. To develop this new position domain control system, a robotic manipulator is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while slave motions are described as functions of the master motion according to contour tracking requirements. A position domain dynamic model of the robotic manipulator is developed by transforming the original dynamic model developed in time domain to position domain. One benefit of this developed position domain PD control is that there is no tracking error for the master motion and only the tracking error of slave motions will affect the contour tracking performance. Stability analysis is conducted for the proposed position domain control, and it is successfully verified the good contour tracking performance through simulation study.
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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