Nonlinear modeling and robust H/sub ∞/-based control of flexible joint robots with harmonic drives
Bibliographic record
Abstract
Motion control of manipulators relies on the ability of the actuation system to provide desired joint torques. For robotic manipulators, particularly those equipped with harmonic drives (HD), this ability is considerably restricted by the inherent nonlinearity, friction and flexibility in the actuator-transmission systems. In this work, a joint torque feedback scheme is used for torque control. The design of this method requires that the actuation system is modeled accurately. The motion control design consists of two parts. In the first part, the error dynamic model of the rigid robot arm is derived, followed by obtaining a computed torque control law based on H/sub /spl infin//. The control torque must be provided accurately. The second part of the control design addresses this issue. It has to perform robustly in the presence of hysteresis, nonlinearity and friction. Describing function and conic sector bounded nonlinearity methods are proposed to model the effect of hysteresis, friction and nonlinear stiffness in the control design.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| 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 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 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 source (direct Gemma or distilled Codex), 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".