Multiple Working Mode Control of Mobile Serial Robot with Online Mode Switching for Operations on Mechanisms with Unmodelled Constraints
Bibliographic record
Abstract
In this paper, a multiple working mode approach is proposed to control a mobile serial robot manipulator to perform operations on mechanisms with unmodelled constraints. A constrained robot manipulator is an over-actuated system in which kinematic modelling errors lead to high internal and external reaction forces. With the proposed approach, problems caused by modelling inaccuracies are avoided by reducing the number of position-controlled joints during task execution. As a result, the manipulator becomes a minimally actuated system, where the uncontrolled generalized variables are task-actuated (passive), and the remaining (active) variables are assigned to a priority-based task hierarchy. Three practical criteria are derived for the assignment of active and passive control modes; two based on the coordinate partitioning method for multibody dynamics, and another based on minimizing task friction forces. The proposed control method is implemented on a mobile reconfigurable robot, performing constrained motion along an elliptical trajectory, similar to door-opening task. The experimental results have demonstrated the effectiveness of the proposed control approach.
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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".