Work

Performance Improvement of Sensor-based Robotic Arm Control Strategy in Noisy Environments

Year: 2026

Type: article

Abstract: Sensor noise significantly degrades the trajectory tracking accuracy of robotic manipulators.In this paper, we propose a closed-loop control strategy based on multisensor fusion and an extended Kalman filter (EKF) to enhance performance under noisy sensing conditions.A sixdegree-of-freedom Puma 560 manipulator is modeled, including its kinematics, dynamics, and stochastic measurement models for encoders and an inertial measurement unit.The EKF fuses multisensor data to provide real-time estimates of joint positions and velocities, which are integrated into a computed torque controller.Comparative simulations in Matrix Laboratory/ Simulink demonstrate that, compared with conventional feedback using direct noisy measurements, the proposed approach reduces end-effector position error, suppresses velocity estimation fluctuations, and achieves smoother trajectory tracking.We validate the effectiveness of EKF-based sensor fusion for improving the robustness of robotic manipulators in noiseaffected environments.All results are obtained from simulations and have not been validated on physical hardware; sensor non-Gaussian noise, sudden faults, and joint flexibility are not considered.Future work will focus on hardware-in-the-loop validation, adaptive robust filtering, and deep-learning-assisted noise modeling to address these limitations.

Source: Sensors and Materials

DOI: 10.18494/sam6279