A mechatronics approach to design of path generators
Bibliographic record
Abstract
In a companion paper published elsewhere [1], we proposed a design approach based on the general redundancy concept to improve the dynamic performance of a mechanism, especially shaking moment and driving torque, while fulfilling the required task. The approach was based on a partial redundancy function of the servomotor, so the approach is called partial redundancy servomotor (PRSM). In this paper, we apply the PRSM to the path generator problem in robot design, in particular closed-loop multi-degrees of freedom robots or mechanisms. We demonstrate how the path generator design problem is solved and dynamic performance is improved in an integrated manner with the PRSM approach and how mechanism design and robot design are combined to design a better path generator. The contribution of this paper is the proposed PRSM design procedure. The other contribution is an integrated mechanism design and robot design approach that has implication to other general design problems such as function generator and posture generator.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".