Pith Number

pith:7ZQNUDFC

pith:2025:7ZQNUDFCANXUNGSIYWTLQBMDUH

not attested not anchored not stored refs pending

On robotic manipulators with time-dependent inertial parameters: From physical consistency to boundedness of the mass matrix

Johann Reger, Tom Kaufmann

Uniform physical consistency and upper boundedness let finite positive uniform bounds on the mass matrix carry over to time-dependent inertial parameters.

arxiv:2512.01482 v3 · 2025-12-01 · math.OC · cs.SY · eess.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

Under the concepts of uniform physical consistency and upper boundedness of inertial parameters, desirable structural properties regarding the existence of finite, positive uniform bounds of the mass matrix can be shown to carry over to the more involved case of time-dependent inertial parameters.

C2weakest assumption

That the time-dependent inertial parameters resulting from mass-density redistributions or additions will satisfy the newly introduced uniform physical consistency and upper boundedness conditions in actual robotic scenarios.

C3one line summary

Generalized robot dynamics equations with time-dependent inertial parameters preserve finite positive uniform bounds on the mass matrix when inertial parameters satisfy uniform physical consistency and upper boundedness.

Receipt and verification

First computed	2026-05-20T02:05:38.528822Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fe60da0ca2036f469a48c5a6b80583a1d5edc89cd6a9f144943d844f31961dec

Aliases

arxiv: 2512.01482 · arxiv_version: 2512.01482v3 · doi: 10.48550/arxiv.2512.01482 · pith_short_12: 7ZQNUDFCANXU · pith_short_16: 7ZQNUDFCANXUNGSI · pith_short_8: 7ZQNUDFC

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/7ZQNUDFCANXUNGSIYWTLQBMDUH \
  | 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: fe60da0ca2036f469a48c5a6b80583a1d5edc89cd6a9f144943d844f31961dec

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b44f9e6ff2286285766dad29e4a7d030d11fd11e0ea190becc06d5529d3d3183",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2025-12-01T10:01:08Z",
    "title_canon_sha256": "0a7667daf6763ddb1189ac74e030a686cab9d5a5b1ce9a086dbccd5c37f86f98"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2512.01482",
    "kind": "arxiv",
    "version": 3
  }
}