Teleoperation of multiple cooperative slave manipulators using graph-based non-singular terminal sliding-mode control
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Bibliographic record
Abstract
In this paper, a new framework of nonlinear single-master-multiple-slave (SMMS) manipulator system is proposed for the cooperative tasks with interconnection time delays. This networked system allows a master manipulator to remotely control a manipulator that serves as the leader of a group of followers. The graph-based non-singular terminal sliding-mode (G-NTSM) method is used to design controllers for the bilateral teleoperative subsystem and leader-following cooperative subsystem. Tracking synchronization with time delays can be achieved while the leader is with time-varying velocity and only globally reachable in a directed graph. Simulation results of a team of two degree-of-freedom (DOF) manipulators show that the designed controllers can ensure the bounded tracking errors, and the resultant overall multi-manipulator system is stable.
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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 | 0.001 | 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