{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2011:CEHB4UGIGRMATI5XDFFHPCU4CR","short_pith_number":"pith:CEHB4UGI","schema_version":"1.0","canonical_sha256":"110e1e50c8345809a3b7194a778a9c145acbc6a1c782009a76256ba1005e62eb","source":{"kind":"arxiv","id":"1104.0769","version":1},"attestation_state":"computed","paper":{"title":"Enhanced stiffness modeling of manipulators with passive joints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN)","submitted_at":"2011-04-05T08:36:04Z","abstract_excerpt":"The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pse"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1104.0769","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-04-05T08:36:04Z","cross_cats_sorted":[],"title_canon_sha256":"38ea23cea3b65148b1526b7d2c732c6d0f5e0345b7e2178b052dfcfe913060c7","abstract_canon_sha256":"c68e353a6fef5806b64ee41d4af2c000279e4f551ecd7d6ea1344335e640160e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:25:02.575086Z","signature_b64":"/ByG+BYqR2ibjcz4h1/jLLlfx/CeGJIoi0upIVBsi8TnLIoiPevRIKIunUXaLRfXzZ7bKt5XrE28Nnmbr+NYAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"110e1e50c8345809a3b7194a778a9c145acbc6a1c782009a76256ba1005e62eb","last_reissued_at":"2026-05-18T04:25:02.574588Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:25:02.574588Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Enhanced stiffness modeling of manipulators with passive joints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN)","submitted_at":"2011-04-05T08:36:04Z","abstract_excerpt":"The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pse"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1104.0769","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1104.0769","created_at":"2026-05-18T04:25:02.574674+00:00"},{"alias_kind":"arxiv_version","alias_value":"1104.0769v1","created_at":"2026-05-18T04:25:02.574674+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1104.0769","created_at":"2026-05-18T04:25:02.574674+00:00"},{"alias_kind":"pith_short_12","alias_value":"CEHB4UGIGRMA","created_at":"2026-05-18T12:26:26.731475+00:00"},{"alias_kind":"pith_short_16","alias_value":"CEHB4UGIGRMATI5X","created_at":"2026-05-18T12:26:26.731475+00:00"},{"alias_kind":"pith_short_8","alias_value":"CEHB4UGI","created_at":"2026-05-18T12:26:26.731475+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR","json":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR.json","graph_json":"https://pith.science/api/pith-number/CEHB4UGIGRMATI5XDFFHPCU4CR/graph.json","events_json":"https://pith.science/api/pith-number/CEHB4UGIGRMATI5XDFFHPCU4CR/events.json","paper":"https://pith.science/paper/CEHB4UGI"},"agent_actions":{"view_html":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR","download_json":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR.json","view_paper":"https://pith.science/paper/CEHB4UGI","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1104.0769&json=true","fetch_graph":"https://pith.science/api/pith-number/CEHB4UGIGRMATI5XDFFHPCU4CR/graph.json","fetch_events":"https://pith.science/api/pith-number/CEHB4UGIGRMATI5XDFFHPCU4CR/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR/action/storage_attestation","attest_author":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR/action/author_attestation","sign_citation":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR/action/citation_signature","submit_replication":"https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR/action/replication_record"}},"created_at":"2026-05-18T04:25:02.574674+00:00","updated_at":"2026-05-18T04:25:02.574674+00:00"}