Tracking trajectory in the workspace of rigid manipulators using distributed adaptive control strategy
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Bibliographic record
Abstract
This paper discusses the tracking trajectory in the workspace of rigid manipulators using distributed adaptive control strategy. This control strategy consists of two steps; first, the classical MIMO dynamical system is decomposed into a set of nonlinear interconnected subsystems. Each subsystem has one joint. Second, the distributed adaptive control strategy is introduced. This control strategy consists of controlling the last subsystem while assuming that the remaining subsystems are stable. Then, going backward to the second last subsystem, the same strategy is applied and so on until the first one. The system parameters are assumed to be unknown. An adaptive control is used to estimate these parameters. Indeed, the unknown parameters existing in the equation of motion of the last subsystem are first estimated and the control law is developed based on these estimated parameters. Then, going backward to the before last joint, the control law is developed using its own estimated parameters and the ones already estimated in the upper level subsystem. Asymptotical stability of the error dynamics is proved using Lyapunov approach. The developed algorithm is experimented on a 4 DOF hyper redundant articulated nimble adaptable trunk robot and compared with the classical computed torque approach. Good tracking in the workspace and joint space is obtained and effectiveness of the results is shown.
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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) | 0.000 | 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