Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series. - Christian J. E. Bauer; Valentin Kamm; Marcel Dzubba; Lukas Steinle; Armin Lechler; Alexander Verl (ICIT, 2025)

A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots. - Marcel Dzubba; Michael Neubauer 005; Christoph Hinze; Armin Lechler; Alexander Verl (IEEE Trans Autom. Sci. Eng., 2025)