A modified integral resonant control scheme for vibration suppression of parallel kinematic mechanisms with flexible links
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Bibliographic record
Abstract
A new modified integral resonant control (IRC) scheme is demonstrated herein for vibration suppression of the flexible links of parallel kinematic mechanisms (PKMs). Typically, the resonance frequencies and response amplitudes of the PKM links experience configuration–dependent variation within the workspace. To address these variations, a robust quantitative feedback theory (QFT) approach is utilised herein on a cantilever beam, with a variable tip mass as a proof of concept. The proposed IRC scheme is synthesised with the plant templates within the QFT environment to compare its: 1) robust stability; 2) vibration attenuation with the existing IRC schemes. It is shown that the proposed IRC scheme exhibits improved robustness, while it can maintain its vibration attenuation capability. The proposed IRC is subsequently implemented on a PKM flexible link. The simplicity of the proposed control system makes it a practical approach for vibration suppression of the PKM links, accommodating substantial configuration–dependent behaviour.
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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 | 0.001 | 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