Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
Why this work is in the frame
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Bibliographic record
Abstract
Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion will vary under different payload masses, which will decrease the end-effector positioning accuracy of the robotic arm system. Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.
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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