# Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator

> Research article (2019 International Conference on Robotics and Automation (ICRA), 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2968441584](https://www.wikidata.org/wiki/openalex:W2968441584)  
**Source**: https://4ort.xyz/entity/model-based-on-line-estimation-of-time-varying-nonlinear-joint-stiffness-on-an-e-series-universal-robots-manipulator