Mathematical modelling and simulation investigation of the dynamic behaviour of a compliant 2-R robot by using N-E method Via Matlab/Simulink
Bibliographic record
Abstract
This paper presents a mathematical modeling and simulation investigation on the effect of the equilibrium position on the stability and the energy provided by the robot by proposing four simulation cases. No closed solution for this critical study has been reported. An explicit elbow down model of a 2-R robot has been modelled by adding passive springs. The authors in this paper develop the dynamic of a compliant 2-R robot by using the extended Newton-Euler (N-E) method. The dynamic simulation is investigated by using Matlab/Simulink based on motion with jerk zero at the start-stop path, which guarantees less vibration to the robot’s articulations. The simulation of trajectory is realized by SolidWorks to import the results to Matlab/Simulink for the dynamical simulation. The simulation results show that the energy-saving and good robot stability can be achieved whenever the equilibrium position is close from the beginning of motion with avoiding the unstable phase of the robot during working.
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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 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.004 | 0.001 |
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".