Experimental evaluation of an adaptive iterative learning control scheme on a 5-DOF robot manipulator
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Bibliographic record
Abstract
In this paper, two adaptive iterative learning control schemes are tested experimentally on a five-degrees-of-freedom (5-DOF) robot manipulator CATALYST5. The control strategy consists of using a classical PD structure plus an additional iteratively updated term designed to cope with the unknown parameters and disturbances. The control design is very simple in the sense that the only requirement on the PD and learning gains is the positive definiteness condition. In contrast with classical iterative learning control schemes, where the number of iterative variables is generally equal to the number of control inputs, the proposed controllers use just one or two iterative variables. In this framework, the acceleration measurements and the bounds of the robot parameters are not needed.
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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