2 papers
math.OC2026
On robotic manipulators with time-dependent inertial parameters: From physical consistency to boundedness of the mass matrix
Tom Kaufmann, Johann Reger
We generalize the robotics equation describing the dynamics of open kinematic chains by including the effect of time-dependent change of inertial parameters as well as the effects…
math.OC2025
Indirect Adaptive Control Using a Static Update Law
Tom Kaufmann, Johann Reger
The update law in the indirect adaptive control scheme can be extended to include feedthrough of an error term. This reduces undesired oscillations of the calculated weights. When…