# Feedforward payload generalization method for trajectory tracking in robots with rigid and elastic joints

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qhsr3rhjk3qmmzlc4thk14vg7
- Original: https://arxiv.org/abs/2610.29356

## Summary

This paper proposes a new method for generalizing feedforward control actions with respect to payload parameters, independent of the underlying controller; given only the parameters of a new payload, it can execute the same trajectory without knowledge of the robot's dynamic model and even in the presence of elastic joints.