On the Accuracy of Assumed Mode Modeling for Flexible Manipulators
Bibliographic record
Abstract
Assumed mode shape method (AMM) has been widely used to derive finite degree-of-freedom (DOF) dynamic model for flexible link manipulators, which theoretically have infinite DOF dynamics. For single flexible manipulator, this approximation changes locations of the zeros of transfer function, between base torque and end-effector displacement. The change in locations of zeros considerably affects accuracy of the model and hence the performance of model-based controllers. This paper presents a comprehensive study on the change in location of zeros due to the truncation associated with AMM. It is shown that the locations of zeros of AMM model depend on four non-dimensional parameters while the locations of the analytical model depend on only two non-dimensional parameters; AMM zeros are obtained from AMM model while analytical zeros derived from infinite order model. A thorough study on the differences between AMM zeros and analytical zeros versus number of mode shapes as well as all the physical parameters is performed. Moreover, guidelines are provided to select the numbers of mode shapes such that the AMM zeros become close to the analytical zeros. These guidelines can easily be used by control engineers and thus makes them valuable for modeling and control of flexible robot manipulators.
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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".