# Safety Control for UR-Type Robotic Manipulators via High-Order Control Barrier Functions and Analytical Inverse Kinematics

> Research article (IEEE Transactions on Industrial Electronics, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4385300712](https://www.wikidata.org/wiki/openalex:W4385300712)  
**Source**: https://4ort.xyz/entity/safety-control-for-ur-type-robotic-manipulators-via-high-order-control-barrier-functions-and-analytical-inverse-kinemati