Robotic arms, as automation tools, play a pivotal role in emulating human hand movements and functions to carry out tasks like object grasping and processing. In tackling the challenge of output saturation in the actuator system of robotic arms, this study formulates constrained control laws using barrier Lyapunov functions. These control laws are engineered to achieve accurate tracking of the robotic arm’s position and velocity, all the while keeping the system state within predefined limits. To conclude, the efficacy of the proposed control methodology is substantiated through numerical simulations conducted using MATLAB’s S-functions.