A robust end effector tracking controller formulation for robot manipulators actuated via brushless DC motors with uncertainties
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Bibliographic record
Abstract
A robust controller formulation for the precise end effector tracking of robot manipulators having uncertainties throughout its entire mechanical and actuator subsystems is presented. The formulated robust controller achieves practical end effector tracking, even in the presence of uncertainties in the kinematic and dynamic parameters of the mechanical subsystem and the electrical parameters of the actuator subsystem. Specifically, a robust backstepping type controller formulation that makes use of the nominal values of the system parameters is designed to ensure an exponentially convergent, practical end effector tracking result. The stability and global convergence of the controller formulation are ensured via Lyapunov type arguments and extensive experimental studies conducted on custom–built planar robotic manipulator demonstrate the feasibility of the proposed method.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 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