{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:D75CVTQG7O6M4AAB5GD6LL4XV6","short_pith_number":"pith:D75CVTQG","schema_version":"1.0","canonical_sha256":"1ffa2ace06fbbcce0001e987e5af97afb84f719677b2eb3244515d9d5c309f18","source":{"kind":"arxiv","id":"1905.03416","version":2},"attestation_state":"computed","paper":{"title":"Prioritized Inverse Kinematics: Nonsmoothness, Trajectory Existence, Task Convergence, Stability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Dongheui Lee, Sang-ik An","submitted_at":"2019-05-09T02:24:13Z","abstract_excerpt":"In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized multiple outputs. We first develop tools to investigate nonsmoothness of PIK solutions and find a sufficient condition for nonsmoothness. It implies that existence and uniqueness of a joint trajectory satisfying a PIK solution cannot be guaranteed by the classical theorems. So, we construct an alternative existence and uniqueness theorem that uses structural in"},"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":"1905.03416","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-05-09T02:24:13Z","cross_cats_sorted":["cs.RO","cs.SY","math.OC"],"title_canon_sha256":"210a5e8418a0004a56e204e73203e3731e49318c02e38970d88c84ddf391930c","abstract_canon_sha256":"a0c8d0df9896e6860fdd721de1eae3fd7b3c8adf674ee401931d87d5023c6463"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T20:14:29.458706Z","signature_b64":"3gFoaWpjQttixFpFL+xhpb1NpgD0YtS3ibhjczgS2hFx4Z8XwHU3xzuXRThrkx1ZvKB3xoUrFm0rTTsRn7MVCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1ffa2ace06fbbcce0001e987e5af97afb84f719677b2eb3244515d9d5c309f18","last_reissued_at":"2026-06-04T20:14:29.458263Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T20:14:29.458263Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Prioritized Inverse Kinematics: Nonsmoothness, Trajectory Existence, Task Convergence, Stability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Dongheui Lee, Sang-ik An","submitted_at":"2019-05-09T02:24:13Z","abstract_excerpt":"In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized multiple outputs. We first develop tools to investigate nonsmoothness of PIK solutions and find a sufficient condition for nonsmoothness. It implies that existence and uniqueness of a joint trajectory satisfying a PIK solution cannot be guaranteed by the classical theorems. So, we construct an alternative existence and uniqueness theorem that uses structural in"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.03416","kind":"arxiv","version":2},"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/1905.03416/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1905.03416","created_at":"2026-06-04T20:14:29.458338+00:00"},{"alias_kind":"arxiv_version","alias_value":"1905.03416v2","created_at":"2026-06-04T20:14:29.458338+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.03416","created_at":"2026-06-04T20:14:29.458338+00:00"},{"alias_kind":"pith_short_12","alias_value":"D75CVTQG7O6M","created_at":"2026-06-04T20:14:29.458338+00:00"},{"alias_kind":"pith_short_16","alias_value":"D75CVTQG7O6M4AAB","created_at":"2026-06-04T20:14:29.458338+00:00"},{"alias_kind":"pith_short_8","alias_value":"D75CVTQG","created_at":"2026-06-04T20:14:29.458338+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/D75CVTQG7O6M4AAB5GD6LL4XV6","json":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6.json","graph_json":"https://pith.science/api/pith-number/D75CVTQG7O6M4AAB5GD6LL4XV6/graph.json","events_json":"https://pith.science/api/pith-number/D75CVTQG7O6M4AAB5GD6LL4XV6/events.json","paper":"https://pith.science/paper/D75CVTQG"},"agent_actions":{"view_html":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6","download_json":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6.json","view_paper":"https://pith.science/paper/D75CVTQG","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1905.03416&json=true","fetch_graph":"https://pith.science/api/pith-number/D75CVTQG7O6M4AAB5GD6LL4XV6/graph.json","fetch_events":"https://pith.science/api/pith-number/D75CVTQG7O6M4AAB5GD6LL4XV6/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6/action/timestamp_anchor","attest_storage":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6/action/storage_attestation","attest_author":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6/action/author_attestation","sign_citation":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6/action/citation_signature","submit_replication":"https://pith.science/pith/D75CVTQG7O6M4AAB5GD6LL4XV6/action/replication_record"}},"created_at":"2026-06-04T20:14:29.458338+00:00","updated_at":"2026-06-04T20:14:29.458338+00:00"}