REDUNDANCY RESOLUTION OF WIRE-ACTUATED PARALLEL MANIPULATORS
Bibliographic record
Abstract
Redundant manipulators have potential advantages of using their degree(s) of redundancy to satisfy additional task(s). To achieve desirable performance criteria, various optimization techniques can be applied to redundant manipulators. In the work presented, the redundancy resolution of planar wire-actuated parallel manipulators is investigated at the kinematic and dynamic levels in order to perform desirable tasks while maintaining positive tensions in the wires. Local optimization routines are used in the simulations in order to minimize the norm of actuator forces/torques or to minimize the norm of the mobile platform velocity, subject to positive tension in the wires. This paper presents techniques to alter wire tensions, mobile platform trajectory, mobile platform velocity, and length rate of wires, in order to maintain positive wire tensions. The effectiveness of the presented approaches is studied through simulations of an example planar wire-actuated manipulator. The presented approaches can be utilized in the design of controllers, trajectory planning, and dynamic workspace analysis.
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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".