Development and experimental validation of a reorientation algorithm for a free-floating serial manipulator
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a method to reorient a free-floating serial manipulator using internal motion based on a path planning algorithm using a dynamic model of the manipulator and a potential function. Simulations with the proposed algorithm are performed using a nonlinear optimization technique in order to determine the actuator's velocity trajectories that achieve the reorientation. An example trajectory is presented in which a three-link planar robot starts from a pose in which all the links are aligned and ends with the same joint configuration but with the robot having completed a 180 degrees rotation. For this example, the algorithm finds trajectories that allow the robot to complete approximately 94% of the reorientation. To verify the simulation results against a real robot, a prototype of a planar robot with three bodies and two revolute joints is built. The experiments conducted show that the prototype is able to achieve the prescribed reorientation, even though the control of the orientation was implemented in an open-loop mode.
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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