{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:3TODG5VYMN2ZG2V7NR5VMNVGOV","short_pith_number":"pith:3TODG5VY","canonical_record":{"source":{"id":"1908.03269","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T21:26:41Z","cross_cats_sorted":[],"title_canon_sha256":"dfd846543bf4f992a2dfb7ee58f3d2472a2a31dc0f057db5eef6dfcb7ed49398","abstract_canon_sha256":"425e1486350e04e942e2bd758500b43c4eea3aa9654dbedcf26ff77abec0354f"},"schema_version":"1.0"},"canonical_sha256":"dcdc3376b86375936abf6c7b5636a67564a11004a8d2d51582f73fbd0940e129","source":{"kind":"arxiv","id":"1908.03269","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03269","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03269v1","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03269","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_12","alias_value":"3TODG5VYMN2Z","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_16","alias_value":"3TODG5VYMN2ZG2V7","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_8","alias_value":"3TODG5VY","created_at":"2026-07-04T23:52:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:3TODG5VYMN2ZG2V7NR5VMNVGOV","target":"record","payload":{"canonical_record":{"source":{"id":"1908.03269","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T21:26:41Z","cross_cats_sorted":[],"title_canon_sha256":"dfd846543bf4f992a2dfb7ee58f3d2472a2a31dc0f057db5eef6dfcb7ed49398","abstract_canon_sha256":"425e1486350e04e942e2bd758500b43c4eea3aa9654dbedcf26ff77abec0354f"},"schema_version":"1.0"},"canonical_sha256":"dcdc3376b86375936abf6c7b5636a67564a11004a8d2d51582f73fbd0940e129","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-04T23:52:38.025278Z","signature_b64":"TSbk7/JaAjZQ21cSm6by2ROyO0rElO4qY4Df+EvW7lPA4W285NY/Fgvou9YLeMXTTg+LamF5A3NF4zzdqVf9Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dcdc3376b86375936abf6c7b5636a67564a11004a8d2d51582f73fbd0940e129","last_reissued_at":"2026-07-04T23:52:38.024929Z","signature_status":"signed_v1","first_computed_at":"2026-07-04T23:52:38.024929Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.03269","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-04T23:52:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IouM1otsgqv9Hs/BQHwL33fSVn8Dez477FUxz87O4kHe0JXzFoGyPmK5qssB5uBXKwGEYEUjJRXB+qqUxzB4Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T15:57:43.041315Z"},"content_sha256":"8731a4794d032ddc1a7cd8fd77a087e6f84ba6ae16f31b17b5acc9441327bd57","schema_version":"1.0","event_id":"sha256:8731a4794d032ddc1a7cd8fd77a087e6f84ba6ae16f31b17b5acc9441327bd57"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:3TODG5VYMN2ZG2V7NR5VMNVGOV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"John T. Wen, Shuyang Chen","submitted_at":"2019-08-08T21:26:41Z","abstract_excerpt":"Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by the inability of the joint servo controller to address the uncertain nonlinear dynamics of the robot arm, e.g., due to joint flexibility. We consider two approaches to improve the trajectory tracking performance through feedforward compensation. The first approach uses iterative learning control, with the gradient-based iterative update generated from the ro"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03269","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1908.03269/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-04T23:52:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"56v2KFy3Z5MxKajxz5YhWKVN7eh/qRlT3tHjdC3DeAGNcE9l35swxUeIwR2v0a2eGtTMTQtMyf9tPDB9kiGYBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T15:57:43.042257Z"},"content_sha256":"1f4e1f903043ccb9f264ab51a9acbbc52d596819b3fe68d7b63b63401baf003c","schema_version":"1.0","event_id":"sha256:1f4e1f903043ccb9f264ab51a9acbbc52d596819b3fe68d7b63b63401baf003c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/bundle.json","state_url":"https://pith.science/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-16T15:57:43Z","links":{"resolver":"https://pith.science/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV","bundle":"https://pith.science/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/bundle.json","state":"https://pith.science/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3TODG5VYMN2ZG2V7NR5VMNVGOV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:3TODG5VYMN2ZG2V7NR5VMNVGOV","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"425e1486350e04e942e2bd758500b43c4eea3aa9654dbedcf26ff77abec0354f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T21:26:41Z","title_canon_sha256":"dfd846543bf4f992a2dfb7ee58f3d2472a2a31dc0f057db5eef6dfcb7ed49398"},"schema_version":"1.0","source":{"id":"1908.03269","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03269","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03269v1","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03269","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_12","alias_value":"3TODG5VYMN2Z","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_16","alias_value":"3TODG5VYMN2ZG2V7","created_at":"2026-07-04T23:52:38Z"},{"alias_kind":"pith_short_8","alias_value":"3TODG5VY","created_at":"2026-07-04T23:52:38Z"}],"graph_snapshots":[{"event_id":"sha256:1f4e1f903043ccb9f264ab51a9acbbc52d596819b3fe68d7b63b63401baf003c","target":"graph","created_at":"2026-07-04T23:52:38Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/1908.03269/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by the inability of the joint servo controller to address the uncertain nonlinear dynamics of the robot arm, e.g., due to joint flexibility. We consider two approaches to improve the trajectory tracking performance through feedforward compensation. The first approach uses iterative learning control, with the gradient-based iterative update generated from the ro","authors_text":"John T. Wen, Shuyang Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T21:26:41Z","title":"Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03269","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:8731a4794d032ddc1a7cd8fd77a087e6f84ba6ae16f31b17b5acc9441327bd57","target":"record","created_at":"2026-07-04T23:52:38Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"425e1486350e04e942e2bd758500b43c4eea3aa9654dbedcf26ff77abec0354f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T21:26:41Z","title_canon_sha256":"dfd846543bf4f992a2dfb7ee58f3d2472a2a31dc0f057db5eef6dfcb7ed49398"},"schema_version":"1.0","source":{"id":"1908.03269","kind":"arxiv","version":1}},"canonical_sha256":"dcdc3376b86375936abf6c7b5636a67564a11004a8d2d51582f73fbd0940e129","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dcdc3376b86375936abf6c7b5636a67564a11004a8d2d51582f73fbd0940e129","first_computed_at":"2026-07-04T23:52:38.024929Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:52:38.024929Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TSbk7/JaAjZQ21cSm6by2ROyO0rElO4qY4Df+EvW7lPA4W285NY/Fgvou9YLeMXTTg+LamF5A3NF4zzdqVf9Dw==","signature_status":"signed_v1","signed_at":"2026-07-04T23:52:38.025278Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.03269","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8731a4794d032ddc1a7cd8fd77a087e6f84ba6ae16f31b17b5acc9441327bd57","sha256:1f4e1f903043ccb9f264ab51a9acbbc52d596819b3fe68d7b63b63401baf003c"],"state_sha256":"7bca9af0ddbf7569ca53365abc1c9761ea322eb1f501d2a4044f4fff1f6c79c2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X92Vl3F1fav6UGQrsC2ilCiY0Bx7hqtGC3PlzZeTzE3dSA0jP3qWM0d9PXK+QA3ntwSKnbHYbFnZGUCcwksQAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T15:57:43.047949Z","bundle_sha256":"6e5f77605ee5fadc16dae341038e6a2ed026ef1fe4cc78b84f01a90612ef2053"}}