Dynamics and Control of a Manipulator with Slewing and Deployable Links
Bibliographic record
Abstract
Dynamics of a space-based flexible manipulator with deployable modules is studied first. This is followed by the controlled response of the system using two procedures: (i) nonlinear Feedback Linearization Technique (FLT) applied to rigid degrees of freedom; (ii) rigid as well as flexible degrees of freedom controlled through FLT and Linear Quadratic Regulator (LQR), respectively. Results suggest that the fundamental mode is able to capture the physics of the response quite accurately. Due to its massive character, the platform dynamics is virtually unaffected even by severe maneuvers. The revolute joint flexibility appears to be an important parameter affecting both the joint and tip responses. The system exhibits unacceptable response under critical combinations of parameters. The FLT control is found to be quite effective in regulating the rigid-body motion of manipulator links as well as the attitude motion of the platform. The combination of FLT and LQR further improves the controller's performance
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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) | 0.001 | 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 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".