An adaptive compliant motion controller for robot manipulators based on damping control
Why this work is in the frame
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Bibliographic record
Abstract
An investigation is reported of the design and implementation of a compliant control scheme based on damping control that can be used to perform position and force control of robot manipulators in teleoperation or autonomous control. The dynamic performance of such a system in constrained situations is very dependent on the environmental parameters. An adaptive controlled based on the model reference adaptive controller (MRAC) approach is developed for a single-axis manipulator model and is further extended to the multiaxis case using the concept of directional adaptation: the MRAC and the compliance are active only in the direction of the force constraints, thus allowing near-perfect velocity and force tracking in all directions. Simulation results show that the adaptive scheme can significantly improve the performance in force tracking and enhance stability at high stiffness by rendering the behavior independent of the environment and robot parameters. Some experimental implementation concerns are presented in light of a series of preliminary tests with a PUMA 560 manipulator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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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) | 0.001 | 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 it