Teleoperated Single-Master-Multiple-Slave System for Cooperative Manipulations in Task Space
Bibliographic record
Abstract
In this paper, the framework of a single-master-multiple-slave nonlinear manipulator system is proposed for the remote regulation of cooperative tasks. To simultaneously implement both the teleoperation and the cooperation in the presence of time-varying delays, external disturbances and modelling uncertainties, an adaptive non-singular terminal sliding-mode (ANTSM) method is used. Through a wrench-prediction-based reference model, the master controller can be designed as a motion controller while considering the environmental wrench feedback. Additionally, as the full pose motion regulation is considered, an optimized load distribution method is used for the load allocation in 6 degrees of freedom (DOFs) and to compensate for the additional internal torque. Simulation results of a team of 3-DOF Phantom Omni haptic devices show that the designed controllers can ensure that the tracking errors are bounded and the resultant overall multi-manipulator system is stable.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".