Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Metrics and Optimization of Internal Poses for Highly Redundant
  Truss-Like Serialized Parallel Manipulators   This paper presents a kinematic definition of a serialized Stewart platform
designed for autonomous in-space assembly called an Assembler. The Assemblers
architecture describes problems inherent to the inverse kinematics of
over-actuated mixed kinematic systems. This paper also presents a methodology
for optimizing poses. In order to accomplish this with the Assembler system, an
algorithm for finding a feasible solution to its inverse kinematics was
developed with a wrapper for a nonlinear optimization algorithm designed to
minimize the magnitude of forces incurred by each actuator. A simulated version
of an Assembler was placed into a number of representative poses, and the
positions were optimized. The results of these optimizations are discussed in
terms of actuator forces, reachability of the platform, and applicability to
high-payload structure assembly capabilities.

19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
37
The categories of this paper are: supr-con
27
The categories of this paper are: comp-gas
32
The categories of this paper are: atom-ph
2
The categories of this paper are: math
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
35
The categories of this paper are: mtrl-th
18
The categories of this paper are: econ
31
The categories of this paper are: ao-sci
28
The categories of this paper are: alg-geom
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph