A system for active motion displacement control of a robot, the system comprising: - a device control layer device , which is configured to set a desired position of a portion of a kinematic chain; - a motor driver board device , which is configured to generate a motion profile for at least one actor device coupled to the portion of the kinematic chain based on the set desired position of the portion of the kinematic chain; - the actor device , which is configured to move the portion of the kinematic chain to an actual position based on the generated motion profile; - a sensor device , which is configured to measure the actual position of the portion of the kinematic chain and, thereon based, provide position data of the portion of the kinematic chain; and wherein the motor driver board device is further configured to determine an estimated offset and provide a feedback path to a control loop used by the motor driver board device based on the provided position data of the portion, the desired position of the portion, and the estimated offset, wherein the motor driver board device is further configured to provide the feedback path based on an equation in that a difference between the actual position of the portion and the desired position of the portion is compensated by the determined estimated offset, characterized in that the motor driver board device is further configured to determine the estimated offset based on a lookup table, and wherein the motor driver board device is further configured: to generate the lookup table by measurements of the kinematic chain by using a three-dimensional laser scanner, and to determine the estimated offset by an interpolation of the lookup table; and wherein the motor driver board device is further configured: DV:SQL to provide a curve fitting based on the lookup table in order to determine the estimated offset, and/or to determine the estimated offset by applying fuzzy logic, artificial intelligence or neural networks to the lookup table. - a device control layer device , which is configured to set a desired position of a portion of a kinematic chain; - a motor driver board device , which is configured to generate a motion profile for at least one actor device coupled to the portion of the kinematic chain based on the set desired position of the portion of the kinematic chain; - the actor device , which is configured to move the portion of the kinematic chain to an actual position based on the generated motion profile; - a sensor device , which is configured to measure the actual position of the portion of the kinematic chain and, thereon based, provide position data of the portion of the kinematic chain; and wherein the motor driver board device is further configured to determine an estimated offset and provide a feedback path to a control loop used by the motor driver board device based on the provided position data of the portion, the desired position of the portion, and the estimated offset, wherein the motor driver board device is further configured to provide the feedback path based on an equation in that a difference between the actual position of the portion and the desired position of the portion is compensated by the determined estimated offset, characterized in that the motor driver board device is further configured to determine the estimated offset based on a lookup table, and wherein the motor driver board device is further configured: to generate the lookup table by measurements of the kinematic chain by using a three-dimensional laser scanner, and to determine the estimated offset by an interpolation of the lookup table; and wherein the motor driver board device is further configured: DV:SQL to provide a curve fitting based on the lookup table in order to determine the estimated offset, and/or to determine the estimated offset by applying fuzzy logic, artificial intelligence or neural networks to the lookup table. <EOS>