Dynamic Point-to-Point Trajectory Planning of a Three-DOF Cable-Suspended Mechanism Using the Hypocycloid Curve
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Bibliographic record
Abstract
This paper proposes a dynamic trajectory planning technique for the point-to-point motion of three-degree-of-freedom cable-suspended mechanisms. The trajectory path is inspired from a hypocycloid curve that is embedded in the plane defined by the acceleration vector at the initial point and the final point. The proposed motion ensures zero instantaneous velocity at each of the endpoints and continuity of the acceleration, while positive cable tensions are guaranteed through a proper choice of the number of arcs of the hypocycloid. The trajectory can be used in sequence to connect consecutive target points that may lie beyond the static workspace of the mechanism. Compared to previously proposed approaches, the technique developed in this paper produces very large regions of attainable target points. In particular, it is proven that horizontal trajectories are always feasible, for any prescribed target point. Simulation results of an example trajectory are included in order to illustrate the approach, along with a video demonstration of an experimental validation performed using a prototype.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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