Generalized Projector for Task Priority Transitions During Hierarchical Control
Résumé
Redundant robots performing multiple tasks of different priority levels are often handled by hierarchical con-trol frameworks. Existing hierarchical controllers can handle either strict task priorities by using null space projections or a sequence of quadratic programs, or non strict task priorities by using a weighting strategy. This paper proposes a general approach to handle both strict and non-strict task priorities, and to achieve multiple priority rearrangements simultaneously. Priority modulations are achieved by the regulation of a novel generalized projector. This projector allows a task to be completely projected in the null-space of a set of tasks, while partially projected in those of some other tasks. Such a pro-jector is implemented in an analytical control framework here. It can also be implemented in many optimization-based multi-task control frameworks. The effectiveness of this approach is demonstrated on a KUKA LWR robot performing task priority rearrangements as well as task insertion and deletion.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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