Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm

• URL: http://arxiv.org/abs/2606.02969v1
• Date: Tue, 02 Jun 2026 00:12:20 GMT
• Title: Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm
• Abstract summary: This paper examines three approaches for modeling the dynamics of a flexible-link 2-DoF robotic arm.<n>Two physics informed models combine rigid-body dynamics (RBD) formulations with a Gaussian Mixture Model (GMM) to capture residual model errors and linkage flexibility.<n>A kinematics-based regression model serves as a purely data-driven baseline.
• Score: 2.1528661949045533
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: This paper examines three approaches for modeling the dynamics of a flexible-link 2-DoF robotic arm to address unmodeled dynamics not captured by rigid-body models. Two physics informed models combine rigid-body dynamics (RBD) formulations with a Gaussian Mixture Model (GMM) to capture residual model errors and linkage flexibility. A kinematics-based regression model serves as a purely data-driven baseline. Using an open-source dataset, torque predictions are first estimated using Ridge regression on kinematic features, while the physicsbased baseline is constructed from published specifications, and ordinary least-squares regression is subsequently used to estimate the same parameter set directly from data. Results show that the physics-based parameters yield the poorest accuracy, while regularized and least-squares estimators align more closely with measured torques. Residual analysis and error metrics highlight the limitations of purely parametric models for flexible-link systems and underscore the value of regularization and data-driven identification, supporting developments of semi-parametric residual learning methods.

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