On the control of space free-flyers using multiple impedance control
Why this work is in the frame
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Bibliographic record
Abstract
Multiple impedance control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a space robotic system in which robotic arms, mounted on a free-flying-base, manipulate an object. The general formulation of the MIC is extended to include the dynamic coupling between the arms and the base. It is shown that under the MIC law, all participating manipulators, the free-flyer base, and the manipulated object exhibit the same designated impedance behavior. This guarantees good tracking of system manipulators and the object, in performing a manipulation task. A system of two cooperating two-link manipulators is simulated, in which a remote centre compliance is attached to the second end-effector. The object is grabbed with a pivoted grasp condition, i.e. both the translational and rotational motions of the object have to be controlled by end-effector forces. As simulation results show, the response of the MIC algorithm is smooth, even in the occurrence of an impact due to collision with an obstacle.
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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) | 0.000 | 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