An Adaptive-Gain Recurrent Neural Network for Solving the Joint-Angle Drift Issues of Redundant Manipulators
Bibliographic record
Abstract
This paper proposes a new adaptive-gain recurrent neural network (AG-RNN) to effectively cope with the joint-angle drift issues in redundant manipulators. Specifically, a joint-angle drift-free with the feedback control of the velocity layer motion equation (JADF-FC) is proposed via an optimization criterion for synchronously optimizing linear terms and quadratic. Then, the JADF-FC is reasonably formulated into a standard quadratic programming (QP) issue. Different from the previous recurrent neural networks (RNNs), the AG-RNN proposed in this paper constructs an error-based differential equation with a new adaptive-gain. It should be noted that the proposed adaptive-gain does not gradually approach infinity as time increases, which is more in line with actual hardware implementation requirements than the existing time-variant-gain. The adaptive-gain can reduce the joint-angle drift errors of the redundant manipulator. Therefore, the proposed AG-RNN can solve the QP problem of the manipulator more effectively and quickly. To validate the performance of the proposed AG-RNN, it is compared with representative RNNs. The experimental results indicate that smaller joint-angle drift errors can be get by the proposed AG-RNN solving JADF-FC scheme than the other solutions when solving the joint-angle drift issues.
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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 | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| 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".