Virtual decomposition controller for flexible-joint robot manipulators with non-full-state feedback
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Bibliographic record
Abstract
In this article, a tracking controller for flexible-joint robot manipulators with non-full-state feedback is investigated based on virtual decomposition control (VDC) theory. First, virtual decomposition principle is applied to decouple the entire system of flexible-joint robot manipulator into rigid-link subsystems and flexible-joint subsystems; then, subcontrollers are designed correspondingly for each link or joint subsystem. Importantly, to realize the closed-loop tracking control without state measurements on the link side, an extended Kalman filter is designed to achieve the proposed VDC approach via non-full-state feedback. In addition, strict stability analysis of the control system is given according to the theory of virtual stability and Lyapunov stability. Finally, validation example is provided to verify the proposed control 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 | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 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