Trajectory Control of Two DOF Closed-Chain Mechanical Systems
Why this work is in the frame
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Bibliographic record
Abstract
Abstract In this study, we develop some control algorithms for trajectory tracking of two DOF closed-chain mechanical systems separately driven by two servomotors (closed-chain robot), as well as by one CV motor and the other servomotor (so-called hybrid machine) based on their dynamic model. For the former, the exponential stability and validation of PD computed-torque control algorithm are verified for trajectory tracking of both joints and the end-effector of the system. For the latter, a complex PD computed-torque control algorithm with a closed-loop feedback for the servomotor and an open-loop feedforward for the CV motor is proposed. Simulation studies show that the complex PD computed-torque control algorithm is effective when the velocity fluctuation of the CV motor is reduced to 5% by attaching a flywheel on the CV motor shaft.
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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) | 0.001 | 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