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.
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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 | 0.000 |
| 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 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".