Out-of-Plane Vibration Control of a Planar Cable-Driven Parallel Robot
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Bibliographic record
Abstract
A robust MIMO sliding mode control strategy is proposed for out-of-plane stabilization of the endeffector of a planar cable-driven parallel robot using an underactuated multibody multiaxis reaction system governed by nonlinear equations of motion. Low manipulator stiffnesses in the nonplanar directions is one of the concerns regarding accurate positioning of the end effector for planar cable-driven robots since the out-of-plane directions are uncontrollable via cable actuation. Therefore, an additional inertia-based reaction system is added to the end effector, consisting of two mirrored pendulum actuator systems, in order to elevate the system to a level of full controllability. A five-dimensional multibody model of the end effector with added multiaxis reaction system is presented and its equations of motion are derived. Sliding mode control is a robust nonlinear control approach that is capable of handling disturbances and parameter uncertainties. The sliding surfaces, one per actuated degree of freedom, are defined as a linear combination of the tracking position and velocity errors of both actuated and unactuated coordinates. The proposed sliding mode control law for the multiaxis reaction system has shown to perform well in both simulation and experiments.
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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