Full-State Tracking Control for Flexible Joint Robots With Singular Perturbation Techniques
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Bibliographic record
Abstract
This paper proposes a practical method to realize multivariable full-state tracking control for industrial robots with elastic joints. Unlike existing methods, the proposed method does not require high-order derivatives of the link states such as acceleration and jerk. Therefore, the proposed method does not suffer from chatter related to inaccurate estimation of high-order derivatives. The method is derived by adopting a singular perturbation technique. A decoupled error dynamics is achieved by two decoupling control loops: a fast loop that controls the deflection error and a slow loop for tracking control on the link side. Our stability analysis based on a linear system shows that the proposed control system is stable as long as the fast system is at least twice as fast as the slow system. A practical method to select the gain is also presented such that the closed-loop poles are placed at the desired locations. In simulation, we compare the proposed method with feedback linearization. The results indicate that in an ideal scenario the proposed method can obtain a similar performance as feedback linearization. However, the proposed method obtains a superior performance in a realistic scenario. A real-world experiment with a six degree-of-freedom commercial industrial robot is carried out to further validate our approach.
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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) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 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