Dynamics and Trajectory Tracking Control of a Two-Link Robot Manipulator
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Bibliographic record
Abstract
Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12.6 × 12.6m 2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadratic regulator and fuzzy logic schemes actuated by a Jacobian transpose control law computed using dominant cantilever and pinned-pinned assumed mode frequencies. The inverse dynamics model is pursued further to study a manipulator with flexible links where nonlinear rigid-link dynamics are coupled with dominant assumed modes for cantilever and pinned-pinned beams. A time delay in the feedback control loop represents elastic wave travel time along the links to generate non-minimum phase response. A time delay acting on control commands ameliorates non-minimum phase response. Finally, a fuzzy logic system outputs a variable to adapt the control law in response to elastic deformation inputs. Results show greater endpoint position control accuracy using a flexible inverse dynamics robot model combined with a fuzzy logic adapted control law and time delays than could be obtained for the rigid dynamics models.
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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