Dynamic Point-to-Point Trajectory Planning of a Three-DOF Cable-Suspended Parallel Robot
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Bibliographic record
Abstract
This paper proposes a dynamic trajectory planning method for point-to-point motion of three-degree-of-freedom (three-DOF) cable-suspended parallel robots. Natural frequencies as well as associated periodic trajectories that can be obtained from the integration of the dynamic model of an equivalent passive mechanical system are used to design point-to-point trajectories. The trajectories can be used to connect consecutive points in sequence that may lie beyond the static workspace of the robot. The technique ensures zero velocity at each of the target points and continuity of the accelerations. Based on the cable tension constraints, attainable regions can be determined to search for the next target point, while feasible regions of intermediate points are generated in cases for which a given point cannot be directly attained. An example trajectory is performed to illustrate the approach. An experimental implementation is also presented using a three-DOF prototype, and video extensions are provided to demonstrate the results.
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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