Fauzy Satrio Wibowo

Physics-Constrained Residual Learning for Refined Dynamic Identification and Robust Torque Estimation

Accurate dynamic modeling of industrial robots is essential for high-performance control and estimating torque. However, traditional physics-based models often fail to capture unmodeled dynamics such as complex friction, payload variations, and gearbox-induced distortions. This article refines a physics-based modeling...