Pith Number

pith:66Z3HHJO

pith:2026:66Z3HHJORFWTDXB34WUITPH6NF

not attested not anchored not stored refs pending

Adaptive Modular Geometric Control of Robotic Manipulators

Amir Hossein Barjini, Gokhan Alcan, Jouni Mattila, Mahdi Hejrati

Decomposing manipulator dynamics into modules enables local geometric controllers with a single adaptation gain that cut RMS position error by at least 12.2 percent.

arxiv:2603.03965 v3 · 2026-03-04 · eess.SY · cs.SY

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Record completeness

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed adaptive modular geometric control framework reduces the RMS position error by at least 12.2% compared with state-of-the-art controllers under almost the same control effort, while the nominal case establishes exponential stability.

C2weakest assumption

The overall manipulator dynamics can be decomposed into individual modules such that local geometric control laws can be designed independently while still guaranteeing global stability and performance.

C3one line summary

An adaptive modular geometric controller for robotic manipulators achieves exponential stability in nominal cases and reduces RMS position error by at least 12.2% versus state-of-the-art methods in simulations while using similar effort.

Receipt and verification

First computed	2026-06-19T16:09:55.885099Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f7b3b39d2e896d31dc3be5a889bcfe6945ed218041cdd7770b98ea75412dff21

Aliases

arxiv: 2603.03965 · arxiv_version: 2603.03965v3 · doi: 10.48550/arxiv.2603.03965 · pith_short_12: 66Z3HHJORFWT · pith_short_16: 66Z3HHJORFWTDXB3 · pith_short_8: 66Z3HHJO

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/66Z3HHJORFWTDXB34WUITPH6NF \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f7b3b39d2e896d31dc3be5a889bcfe6945ed218041cdd7770b98ea75412dff21

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ec81040621823e2ce738790534575fbc63d761d05f28272d573e6d63764aea12",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-03-04T11:55:53Z",
    "title_canon_sha256": "a76ac328810d3336dc15fa9aade3e40a702ee106c9e90eea023540b2b4da6f38"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.03965",
    "kind": "arxiv",
    "version": 3
  }
}