Collision avoidance control of robot arm considering the shape of the target system

One way to guarantee the safety of the system is by using a control barrier function(CBF). By using a CBF, it is possible to design a safety assist control input. However, there is no control law that properly considers the shape of the target system. In this paper, we propose a control law that can avoid collision of robot arm via a CBF. Moreover, the effectiveness of our method is confirmed by computer simulations.