Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for wide class controllers. However, the existing results are mostly restricted continuous-time systems. Mechanical systems, including robots, typically second-order systems in which control occurs at force/torque level. These actuator, velocity, and position constraints (i.e., relative degree two) that vital safety and/or task execution. Additionally, mechanical controlled digitally as sampled-data The contribution this article is twofold. first development novel, robust ensure presence model uncertainty allows actuator constraints. second application proposed challenging problem robotic grasping hand must an object remains inside grasp while manipulating it desired reference trajectory. A satisfying controller can admit nominal manipulation controllers from literature simultaneously no slip, overextension (e.g., singular configurations), rolling off fingertips. Simulation experimental validate application.