Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity‐Degenerate (Singular) Configurations
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Abstract This work investigates the exploitation of velocity‐degenerate configurations to optimize the pose of either nonredundant or redundant serial manipulators to sustain desired wrenches. An algorithm is developed that determines a desirable start point for the optimization of a serial manipulator's pose. The start‐point algorithm (SPA) uses analytical expressions of the velocity‐degenerate (singular) configurations of a serial manipulator to determine a pose that would be best suitable to sustain a desired wrench. Results for an example redundant serial manipulator are presented. The example results show that by using the SPA with the optimization routine, the resulting poses obtained require less effort from the actuators when compared to the poses obtained without using the SPA. It is shown that when no constraint is imposed on the position of the end‐effector, the SPA excels at providing a better solution with less iterations than running the optimization without the SPA. © 2003 Wiley Periodicals, Inc.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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