{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RM5RCCKG7ZMPJZA5ACNMZNWNT3","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":"ac74046a47035f4a4d7ae80769053cdc6de8450f5ce8fd1c981b2d6b5fc409ff","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T17:17:25Z","title_canon_sha256":"ccdc1c9d335531ac369d3d5dbe7e4e72ae68d87a69e2add05aab035fb95b3951"},"schema_version":"1.0","source":{"id":"2402.05037","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.05037","created_at":"2026-07-05T07:42:35Z"},{"alias_kind":"arxiv_version","alias_value":"2402.05037v1","created_at":"2026-07-05T07:42:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.05037","created_at":"2026-07-05T07:42:35Z"},{"alias_kind":"pith_short_12","alias_value":"RM5RCCKG7ZMP","created_at":"2026-07-05T07:42:35Z"},{"alias_kind":"pith_short_16","alias_value":"RM5RCCKG7ZMPJZA5","created_at":"2026-07-05T07:42:35Z"},{"alias_kind":"pith_short_8","alias_value":"RM5RCCKG","created_at":"2026-07-05T07:42:35Z"}],"graph_snapshots":[{"event_id":"sha256:4591d02f8bac825e7be21b4c940ba9de01d17c6918998ab9b56618695a4a7682","target":"graph","created_at":"2026-07-05T07:42:35Z","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/2402.05037/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.","authors_text":"Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F.C. Figueredo, Sami Haddadin","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T17:17:25Z","title":"Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.05037","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:acd5839c9233ba3c24cabeb60c15a40f7b6af33a1b03c6d57b9369bb9677ee52","target":"record","created_at":"2026-07-05T07:42:35Z","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":"ac74046a47035f4a4d7ae80769053cdc6de8450f5ce8fd1c981b2d6b5fc409ff","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T17:17:25Z","title_canon_sha256":"ccdc1c9d335531ac369d3d5dbe7e4e72ae68d87a69e2add05aab035fb95b3951"},"schema_version":"1.0","source":{"id":"2402.05037","kind":"arxiv","version":1}},"canonical_sha256":"8b3b110946fe58f4e41d009accb6cd9eef6e2cc5684ab0ff75c39275b3027d24","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8b3b110946fe58f4e41d009accb6cd9eef6e2cc5684ab0ff75c39275b3027d24","first_computed_at":"2026-07-05T07:42:35.510432Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:42:35.510432Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9Q3aGtuir7kNff1/RXZWRB+fIzi9/L1jEMHaj31j0Scu+ZSDAEiKihUwoqXVdkNGtBo8VeRXpF3asj1mqfiYCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:42:35.510908Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.05037","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:acd5839c9233ba3c24cabeb60c15a40f7b6af33a1b03c6d57b9369bb9677ee52","sha256:4591d02f8bac825e7be21b4c940ba9de01d17c6918998ab9b56618695a4a7682"],"state_sha256":"f3df690c4aaa0c59a7c0f43e04974f4f298dd316d1327f552c63e91c59e0f83b"}