  The design of a control architecture for providing the desired motion along
with the realization of the joint limitation of a robotic system is still an
open challenge in control and robotics. This paper presents a torque control
architecture for fully actuated manipulators for tracking the desired
time-varying trajectory while ensuring the joints position and velocity limits.
The presented architecture stems from the parametrization of the feasible
joints position and velocity space by exogenous states. The proposed
parametrization transforms the control problem with constrained states to an
un-constrained one by replacing the joints position and velocity with the
exogenous states. With the help of Lyapunov-based arguments, we prove that the
proposed control architecture ensures the stability and convergence of the
desired joint trajectory along with the joints position and velocity limits
avoidance. We validate the performance of proposed architecture through various
simulations on a simple two-degree-of-freedom manipulator and the humanoid
robot iCub.
