Precision Control of Wafer Transfer Robots with Unknown Dynamics: an Output Feedback Approach
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
An output feedback trajectory tracking controller is presented for a belt-driven wafer transfer robot (WTR) with unknown dynamics, achieving precise tracking. The controller employs an extended high-gain observer (EHGO) to effectively estimate the lumped effect of unknown dynamics and disturbances. The robot dynamic model is formulated using the Euler-Lagrange equation, incorporating the belts elongation and contraction, as these factors are the dominant contributors to the tracking error. In contrast, coupling effects, frictional forces, and parametric uncertainties are assumed to be unknown, as they are not the primary determinants of tracking precision and are difficult to measure. This strategic distinction between known and unknown model components contributes to the proposed controller performance. The simulation results illustrate the minimization of the tracking error for the base link.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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