Improving Force Control Bandwidth of Flexible-Link Arms Through Output Redefinition
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Bibliographic record
Abstract
For a constrained flexible beam actuated at one end, we introduce three outputs to achieve fast regulation of the nonminimum phase endpoint force. To this end, three auxiliary signals, i.e., angular displacement, moment, and shear force at the hub are utilized to define new outputs, which are referred to as redefined outputs. Each redefined output is composed of the endpoint force augmented by the time derivative of an auxiliary signal measured at the hub. It is shown that using the redefined outputs along with proper controllers can significantly improve control performance, such as bandwidth, robustness, and error performance. Analytical results are presented that illustrate how bandwidth improvements in a force control loop can be achieved. The results are further verified through simulations and experimental studies.
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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 | 0.001 |
| 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 it