Speed Sensorless Motion Control Scheme for a Robotic Manipulator Under External Forces and Payload Changes
Why this work is in the frame
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Bibliographic record
Abstract
This paper proposes the design of a speed sensorless robust discontinuous controller for the trajectory tracking problem of a 5-DOF robotic manipulator under payload changes and torque disturbances in the joints. The developed observer-based controller is capable of performing trajectory tracking, ensuring stability, fast error convergence and speed sensorless operation. In order to avoid joint speed measurement, an estimation scheme based on a differentiation algorithm is implemented to estimate it. Simulation tests developed in MATLAB/Simulink are presented to show the high performance of the proposed scheme for two different trajectories with the model of the CRS Catalyst-5 by Thermo Electron®, Burlington, ON, Canada.
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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) | 0.000 | 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 it