# High-order control barrier functions-based impedance control of a robotic manipulator with time-varying output constraints

> Research article (ISA Transactions, 2022) · cited 67× · AI/ML

**Wikidata**: [openalex:W4213158583](https://www.wikidata.org/wiki/openalex:W4213158583)  
**Source**: https://4ort.xyz/entity/high-order-control-barrier-functions-based-impedance-control-of-a-robotic-manipulator-with-time-varying-output-constrain