An Energy Shaping-Based Control Barrier Function for Constrained Control of Robot Manipulator

This paper presents our initial results on the construction of a class of control barrier function (CBF) for safety-critical filter of constrained robotic manipulator control within the framework of energy shaping method. The proposed CBF construction directly includes the robot's joint variable constraints to the robot's total energy which includes its kinetic energy and artificial potential function. It is shown the proposed CBF can be used to construct feedback controller to guarantee the forward invariance of the robot's safe operational sets.