Adaptive Control of a Tendon-Driven Manipulator for Capturing Non-Cooperative Space Targets
Why this work is in the frame
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Bibliographic record
Abstract
Orbital debris in Earth orbit poses a threat to the future of spaceflight. To combat this issue, this paper proposes a novel robotic mechanism for non-cooperative capture and active servicing missions on non-cooperative targets; specifically, a tendon-driven manipulator is assumed for this work. The capture mechanism is a prototype symmetric two-link gripper driven by an open-ended cable-sheath transmission mechanism. Because the cable-sheath transmission mechanism is a nonlinear time-varying hysteretic system, two separate adaptive control strategies were compared against the uncontrolled and proportional-integral-derivative controlled performance of the closed-loop gripper. Specifically, an indirect control method and a direct controller were employed. Experimental results demonstrate that the adaptive controllers show better tracking performance of a joint trajectory over the proportional-integral-derivative controlled and uncontrolled cases, whereas the controller performs best under dynamic conditions, and the indirect controller performs best in steady state.
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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) | 0.001 | 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