Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a novel planar three-degree-of-freedom pendulum-like underactuated robot. The robot consists of an end-effector with an actuated arm suspended on a cable wound on a reel. The robot can achieve full planar point-to-point motion (position and orientation) with zero-velocity landing by swinging itself as children do on playground swings. The equations of motion of the underactuated cable-driven robot are first developed. Then, the actuated joint trajectory design for swing-up as well as an optimization technique used to control the behaviour of the passive joint are proposed. Finally, a prototype of the robot and its real-time controller are presented with experimental results for point-to-point trajectories. The proposed mechanism constitutes a low-cost solution for applications requiring large workspaces by combining the advantages of cable-driven systems and underactuation and, to the best of our knowledge, this is the first work presenting the real-time control of such a mechanism.
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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) | 0.001 | 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 it