Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture

• URL: http://arxiv.org/abs/2512.05292v2
• Date: Mon, 08 Dec 2025 06:15:34 GMT
• Title: Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture
• Abstract summary: In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable.<n>In this work, we focus on the development of an easily integrated add-on at the outer-loop layer.<n>Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety.
• Score: 5.705899925573079
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly beneficial when 1) the inner-loop controller is imperfect, unmodifiable, and uncertain; and 2) the dynamic model exhibits significant uncertainty. Stability analysis, formal safety guarantee proof, and hardware experiments with a PUMA robotic manipulator are presented. Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety compared to the state of the art. Video: https://youtu.be/zw1tanvrV8Q

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