  This paper introduces a safe force/position tracking control strategy
designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in
compliant contact with planar surfaces. The strategy uniquely integrates the
Control Barrier Function (CBF) to manage operational limitations and safety
concerns. It effectively addresses safety-critical aspects in the kinematic as
well as dynamic level, such as manipulator joint limits, system velocity
constraints, and inherent system dynamic uncertainties. The proposed strategy
remains robust to the uncertainties of the MMS dynamic model, external
disturbances, or variations in the contact stiffness model. The proposed
control method has low computational demand ensures easy implementation on
onboard computing systems, endorsing real-time operations. Simulation results
verify the strategy's efficacy, reflecting enhanced system performance and
safety.
