When motor torques are estimated rather than measured, Newtonian neural networks beat Lagrangian networks on a six-axis industrial robot because Lagrangian networks do not directly model friction and dissipation.
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Newtonian and Lagrangian Neural Networks: A Comparison Towards Efficient Inverse Dynamics Identification
When motor torques are estimated rather than measured, Newtonian neural networks beat Lagrangian networks on a six-axis industrial robot because Lagrangian networks do not directly model friction and dissipation.