Control of Prioritized and Separated Periodic/Aperiodic Task

Abstract

Robots are typically expected to perform multiple tasks. For realizing multiple tasks using multi-degrees-of-freedom of a robot, priority control was developed. The priority control prioritizes conflicting tasks by projecting lower-priority task velocity into a null space of higher-priority task spaces. Similarly, for realizing two tasks on a single-degree-of-freedom of a robot, periodic/aperiodic separation control was developed. The periodic/aperiodic separation control separates a state into quasi-periodic and quasi-aperiodic states and feedback controls them separately. Thus, the priority control and periodic/aperiodic separation control realize multiple tasks in a different manner, and this paper proposes an integration of them to increase the number of simultaneously realized multiple tasks. Furthermore, this study analyzed the stability and conducted experiments to validate the proposed method. In the experiments, the proposed method achieved to increase the number of realizable tasks from six to nine by performing the quasi-periodic and quasi-aperiodic tasks in addition to prioritized tasks.