Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration
Why this work is in the frame
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Bibliographic record
Abstract
With the increasing applications of wheeled mobile manipulators (WMMs), new challenges have arisen in terms of executing high-force tasks while maintaining precise trajectory tracking. A WMM, which consists of a manipulator mounted on a mobile base, is often a kinematically redundant robot. The existing WMM configuration optimization methods for redundant WMMs are conducted in the null-space of the entire system. Such methods do not consider the differences between the mobile base and the manipulator, such as their different kinematics, dynamics, or operating conditions. This may inevitably reduce the force exertion capability and degrade the tracking precision of the WMM. To enhance the force exertion capability of a WMM, this letter maximizes the directional manipulability (DM) of the manipulator, with consideration of the joint torque differences, first in Cartesian space and then in the null-space of the robotic system. To maintain precise end-effector trajectory tracking, this letter proposes a novel coordination method between the mobile base and the manipulator via a weighting matrix. The advantages and effectiveness of the proposed approach are demonstrated through 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