Non-linear position control of cooperative hydraulic manipulators handling unknown payloads
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Bibliographic record
Abstract
Abstract In this paper, a non-linear stable control scheme is developed for performing a cooperative task by hydraulic manipulators. The goal is to design a controller that allows two or more hydraulic robots to coordinately regulate an object's position/orientation while maintaining specified load sharing between the manipulators as well as desired internal forces on the object. First the complete dynamic model of the whole system is described. Then, a controller is designed, augmented by an on-line updating law to eliminate the steady-state errors due to lack of knowledge about the payload. Extended Lyapunov's second method is used for stability analysis of the control system. The stability of the system is guaranteed by constructing a smooth Lyapunov function. Simulations are performed to substantiate the controller developed in this paper. Acknowledgements The authors would like to thank the Natural Science and Engineering Research Council (NSERC) of Canada who provided financial support for this research. The authors would also like to thank International Submarine Engineering Ltd. (ISE), Vancouver, BC, Canada, for providing information about the dynamics and kinematics parameters of the MAGNUM-7 hydraulic manipulator used in the simulations presented here.
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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