惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

有赞技术团队
有赞技术团队
B
Blog
IT之家
IT之家
奇客Solidot–传递最新科技情报
奇客Solidot–传递最新科技情报
Last Week in AI
Last Week in AI
钛媒体:引领未来商业与生活新知
钛媒体:引领未来商业与生活新知
人人都是产品经理
人人都是产品经理
博客园 - 聂微东
量子位
博客园 - 叶小钗
T
Tailwind CSS Blog
小众软件
小众软件
WordPress大学
WordPress大学
酷 壳 – CoolShell
酷 壳 – CoolShell
博客园 - Franky
雷峰网
雷峰网
博客园 - 三生石上(FineUI控件)
让小产品的独立变现更简单 - ezindie.com
让小产品的独立变现更简单 - ezindie.com
Blog — PlanetScale
Blog — PlanetScale
V
V2EX
博客园_首页
I
InfoQ
B
Blog RSS Feed
Microsoft Azure Blog
Microsoft Azure Blog

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Scalable Screw-Theoretic Synthesis for PDE-Based Dynamic ...
S. Yaqubi, J. Mattila · 2026-01-22 · via cs.RO updates on arXiv.org

This paper presents a novel and scalable screw-theoretic multibody synthesis framework for PDE-based dynamic modeling of serial robotic manipulators with an arbitrary number of flexible links in three-dimensional space. The proposed approach systematically constructs screw-theoretic PDE models for individual flexible links and rigorously enforces holonomic joint constraints through interaction forces. The dynamics of each link are formulated using a set of dual screws expressed in body-fixed coordinates: one describing the motion of the body-fixed frame relative to the inertial frame, a second relating the body-fixed frame to the undeformed configuration, and a third capturing elastic deformations. By expressing the system energy and applying variational principles, the governing dynamics of each link had been previously derived in a unified manner. Synthesizing the individual link models yields an infinitely scalable multibody representation capable of capturing both local (subsystem-level) and global (system-level) dynamics. The framework explicitly recovers all dynamic states, including the motion of each body-fixed frame and the distributed deformation fields of the flexible links. For computational tractability and mathematical rigor, the resulting governing equations are formulated as a semi-explicit index-1 differential-algebraic system. Furthermore, by applying separation of variables, the PDE model is recast as an abstract Cauchy problem, and well-posedness of the resulting system is established.