Precise Control of Elastic Joint Robot Using an Interconnection and Damping Assignment Passivity-Based Approach
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Bibliographic record
Abstract
Vibration suppression and precise tracking are the two main challenges in the control of elastic joint robots. In this study, an elastic joint robot with precise position sensors on both the motor and link sides is developed to tackle these challenges. With a two-mass model for elastic joint and a LuGre friction model for joint friction, the elastic joint robot system is modeled and analyzed as an underactuated port-controlled Hamiltonian system with dissipation (PCHD). The proposed elastic joint controller is integrated with friction compensation using the interconnection and damping assignment passivity-based control method, leading to a PCHD closed loop system that can be effectively tuned to suppress vibration associated with elastic joints. In addition, integral control is employed to achieve high tracking precision. Experiments have been conducted and the results have demonstrated high performance of the proposed control method.
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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