Control of Prioritized and Separated Periodic/Aperiodic Task

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