Control of an Underactuated Three-Link Passive–Active–Active Manipulator Based on Three Stages and Stability Analysis
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Bibliographic record
Abstract
This paper presents a novel three-stage control strategy for the motion control of an underactuated three-link passive–active–active (PAA) manipulator. First, a nonlinear control law is designed to make the angle and angular velocity of the third link convergent to zero. Then, a swing-up control law is designed to increase the system energy and control the posture of the second link. Finally, an integrated method with linear control and nonlinear control is introduced to stabilize the manipulator at the straight-up position. The stability of the control system is guaranteed by Lyapunov theory and LaSalle’s invariance principle. Compared to other approaches, the proposed strategy innovatively introduces a preparatory stage to drive the third link to stretch-out toward the second link in a natural way, which makes the swing-up control easy and quick. Besides, the intergraded method ensures the manipulator moving into the balancing stage smoothly and easily. The effectiveness and efficiency of the control strategy are demonstrated by numerical simulations.
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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 | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.002 | 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