Real-Time Safety and Control of Robotic Manipulators with Torque Saturation in Operational Space

This paper presents a real-time safety and control for robot manipulators using control barrier functions and control Lyapunov functions in operational space. We first define the operational space in terms of system dynamics, jacobian, and torques and then ensure safety by designing Control Barrier Functions (CBF) around the body links of the robotic manipulator. The control barrier function provi...