Position and force control of an electrohydraulic manipulator in the presence of friction
Bibliographic record
Abstract
A work cell for decapitation of salmon has been developed in the authors' Industrial Automation Laboratory. An X-Y electrohydraulic manipulator is used to quickly move a sharp blade to its desired position in the horizontal plane. This blade slides on two lubricated metal guideways. Precise, fast and smooth positioning of the blade is considered here. A quintic polynomial approach is used to generate a smooth reference trajectory. A novel friction-compensating control strategy is proposed to improve tracking performance of the manipulator. The approach is based on an acceleration feedback control law. According to the experimental results, this controller outperforms the classical PD (Proportional+Derivative) controller. In the force control domain, it is experimentally verified that force control is possible as long as no motion is involved. In other words, the reference force is below the static friction break-away force. PD control is used for this purpose. This type of force control can be used to compensate for disturbance force before it actually affects movement of the manipulator.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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) | 0.000 | 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".