Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866915658894147584 |
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| author | Zhang, Fan Chen, Jinfeng Ahanda, Joseph J. B. Mvogo Richter, Hanz Lv, Ge Hu, Bin Lin, Qin |
| author_facet | Zhang, Fan Chen, Jinfeng Ahanda, Joseph J. B. Mvogo Richter, Hanz Lv, Ge Hu, Bin Lin, Qin |
| contents | 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 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_05292 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture Zhang, Fan Chen, Jinfeng Ahanda, Joseph J. B. Mvogo Richter, Hanz Lv, Ge Hu, Bin Lin, Qin Robotics Systems and Control 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 |
| title | Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.05292 |