Inverse Jacobian based hybrid impedance control of redundant manipulators
Bibliographic record
Abstract
This paper presents an efficient control scheme for compliant motion control of kinematically redundant manipulators and its evaluation using an experimental 7 degrees-of-freedom manipulator, REDIESTRO (a redundant dexterous isotropically enhanced, seven turning-pair robot). An inverse Jacobian based hybrid impedance control (IJ-HIC) scheme is proposed that provides a unified approach for combining compliant motion control, redundancy resolution, and user defined secondary tasks in a single methodology. The IJ-HIC uses the inverse of the manipulator Jacobian together with PD control and feed-forward computed torque to track desired force and position trajectories. The scheme is capable of controlling force and position of redundant manipulators and utilizes the manipulator redundancy by achieving user-defined additional tasks. The IJ-HIC is implemented for real-time control of REDIESTRO. Simulation and experimental results validate the IJ-HIC scheme, and demonstrate its capabilities for performing various tasks.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| 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) | 0.001 | 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 source (direct Gemma or distilled Codex), 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".