Workspace Control of Free-Floating Space Manipulators with Non-Zero Momentum on Lie Groups
Bibliographic record
Abstract
This paper develops an output-tracking controller to control the end-effector pose of an N-link free-floating space manipulator, with non-zero momentum. The space manipulator is modelled as an open-chain multi-body system and its kinematics and dynamics are derived on the Special Euclidean group SE(3). Using the conservation of linear and angular momentum of the system, the dynamics of the space manipulator is carefully reduced. The input-output linearization of the system is performed on the Lie algebra $\mathfrak{s}\mathfrak{e}(3)$, without adopting any local coordinate chart for the SE(3). Coordinate-free pose and velocity error functions on SE(3) are then employed to define a modified feedforward, feedback PID control law to stabilize the end-effector pose to a feasible trajectory. A simulation example is provided to demonstrate the tracking capabilities of the proposed controller.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), 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".