{"ID":2833212,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.05292","arxiv_id":"2512.05292","title":"Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture","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","short_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...","url_abs":"https://arxiv.org/abs/2512.05292","url_pdf":"https://arxiv.org/pdf/2512.05292v2","authors":"[\"Fan Zhang\",\"Jinfeng Chen\",\"Joseph J. B. Mvogo Ahanda\",\"Hanz Richter\",\"Ge Lv\",\"Bin Hu\",\"Qin Lin\"]","published":"2025-12-04T22:29:12Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}