Transpose jacobian based hybrid impedance control of redundant manipulators
Bibliographic record
Abstract
This paper presents an efficient control scheme for compliant motion control of kinematically redundant manipulators and its evaluation using an experimental 7 degrees-of-freedom manipulator, REDIESTRO (a Redundant Dextrous Isotropically Enhanced, Seven Turning-pair RObot). A transpose Jacobian based hybrid impedance control (TJ-HIC) scheme is proposed that provides a unified approach for combining compliant motion control, redundancy resolution, and user defined secondary tasks in a single methodology. A Cartesian control scheme at the acceleration level is extended for compliant motion control of redundant manipulators. The manipulator is directly controlled in task space using the transpose Jacobian relationship, without solving the inverse kinematics problem and without computing the manipulator's inverse Jacobian. The TJ-HIC is implemented for real-time control of REDIESTRO. Simulation and experimental results validate the TJ-HIC scheme, and demonstrate its capabilities for performing various tasks
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".