Safety in Admittance Control using Reference Trajectory Shaping - Matlab codes

MATLAB/Simulink models, plotting/analysis scripts, and Quanser hardware data (logs and video) supporting the paper "Safety in Admittance Control using Reference Trajectory Shaping." The work presents a switched model-reference admittance control framework for safe, compliant human–robot interaction via reference trajectory shaping, with safety enforced through invariance control and stability established via a common quadratic Lyapunov function. Includes simulation code for a two-link manipulator and real-time hardware results on a single-link manipulator.