On the Dynamics and Control of Flexible Multibody Systems with Closed Loops
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Bibliographic record
Abstract
The motion control problem for cooperating flexible robot arms manipulating a large rigid payload is considered. An output that depends on the payload position and contributions from the joint motion of each arm is constructed whose rate yields the passivity property with respect to a special input. The input is a combination of the torques from each arm and contains a free load-sharing parameter. The passivity property is shown to depend on the payload mass properties, and in cases where the payload is large, a passivity-based controller combining feedforward and feedback as elements is devised, which yields tracking. An experimental facility consisting of two planar 3-DoF arms is used to implement the strategies. Good tracking is observed and compared with simulation predictions for closed-loop flexible multibody systems.
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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) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 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