Recursive Kinematics and Inverse Dynamics for a Planar 3R Parallel Manipulator
Why this work is in the frame
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Bibliographic record
Abstract
Abstract We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. Recursive algorithms are desirable from the viewpoint of simplicity and uniformity of computation. However, the prominent features of parallel architecture manipulators-the multiple closed kinematic loops, varying locations of actuation together with mixtures of active and passive joints-have traditionally hindered the formulation of modular and recursive algorithms. In this paper, the concept of the decoupled natural orthogonal complement (DeNOC) is combined with the spatial parallelism of the robots of interest to develop an inverse dynamics algorithm which is both recursive and modular. The various formulation stages in this process are highlighted using the illustrative example of a 3R Planar Parallel Manipulator.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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