Dynamics, state estimation, and control of manipulators with rigid and flexible subsystems
Bibliographic record
Abstract
Kinematically redundant manipulators composed of a rigid-link, rigid-joint robot and a structurally flexible arm on top of which the former is located constitute a new paradigm of long-reach manipulation systems. In order to have the end-effector of such a system faithfully follow a preplanned path, one should be able to reliably monitor the motions of the flexible submanipulator due to its elastic deformations. To this end, it is proposed that redundant point-acceleration measurements made on the rigid-robot base be used in an extended Kalman filter to estimate the flexural states of the flexible submanipulator. More specifically, this is done by processing the above-mentioned acceleration data in a novel pose and twist estimation technique, formulated in this thesis, to obtain those of the tip of the flexible arm; the pose and the twist data are then utilized as the measured outputs for the observer. Of course, the state-output relations should be linearized; the linearization is performed in closed-form.
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How this classification was reachedexpand
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) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 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 | 0.001 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".