Enhanced trajectory tracking of robotic manipulators using velocity observer-integrated computed torque control

In robotic systems, the required torque to control manipulator joints is essential for precise motion and stability. Computed Torque Control (CTC) is a widely recognized method used to achieve accurate trajectory tracking in robotic manipulators, enabling them to follow desired paths with precision. However, despite its strengths, CTC is highly dependent on exact knowledge of the robot’s dynamic model and, as a result, is vulnerable to uncertainties such as parameter variations, unmodeled dynamics, and external disturbances. These limitations can compromise performance and make CTC less reliable in practical applications where real-world conditions introduce unexpected variables. To address these challenges, this paper presents an advanced approach to trajectory tracking that enhances CTC by integrating velocity observer techniques. This combination offers a robust control framework that adapts to disturbances, thereby improving the reliability and overall performance of robotic manipulators under uncertain conditions. The efficacy of the proposed approach is illustrated through simulations conducted on a two-degree-of-freedom (2-DOF) robotic manipulator, demonstrating its ability to maintain accuracy and resilience in complex operational environments.