On the Zeros of the Transfer Function of Flexible Link Manipulators and Their Non-Minimum Phase Behaviour
Bibliographic record
Abstract
In this article, a study of the zeros of the transfer function, between the base torque and the end-effector displacement, for flexible link manipulators is performed. The analysis is carried out on a single flexible link manipulator with the initial part of the link being rigid. This type of manipulator is referred to as a slewing single rigid—flexible link manipulator (SRFLM). A new method for finding the zeros of the transfer function of an SRFLM without using the corresponding transfer function is introduced. The changes of the locations of the zeros of an SRFLM owing to the changes in all the physical parameters (PPs) are investigated. It is shown that there are PPs where the increase in their values moves the zeros further from the imaginary axis; while by increasing the values of some other PPs the zeros become closer to the imaginary axis. Finally, there are PPs where the locations of the zeros are independent of their values. These findings will be beneficial in the design as well as control of flexible link manipulators and are among the main contributions of this work.
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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 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 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".