Simon Baumgardt

Identifying the Residual Dynamics of a Delta Robot: A Sparse Regression Approach for Rigid-Body Models

Accurate torque models are critical for high-performance model-based control of industrial robots, yet nominal rigid-body inverse dynamics often neglect friction and other nonlinear effects. This paper proposes a gray-box approach that identifies a sparse, interpretable residual torque model directly in torque space by...