Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints
Why this work is in the frame
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Bibliographic record
Abstract
The use of harmonic drive gear boxes in space robotic applications offer several attractive properties, such as high reduction ratio, compact size, low mass, and coaxial assembly. However, the flexibility effects of this type of gear mechanism in the joints of robotic manipulators are significant enough to make real-time control challenging. This paper addresses the problem of fuzzy adaptive trajectory control of space manipulators that exhibit elastic vibrations in their joints and that are subject to parametric uncertainties and dynamics modeling errors. The developed control scheme uses a fuzzy adaptation mechanism that varies in real-time the gains of a slow control term designed to stabilize the rigid dynamics, and a linear correction term to further reduce the elastic vibrations at the joints. The proposed controller is validated in numerical simulations in a trajectory tracking scenario by a flexible-joint manipulator. Simulation results suggest that the controller is robust to uncertainties in joint stiffness coefficients and to modeling errors, and yields improved tracking performance compared with conventional flexible-joint control strategies.
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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