Ricerc@Sapienza

In this paper, a new approach for dealing with multiple tracking tasks during physical interaction is proposed. By using this method, multiple tasks are accomplished based on the assigned priority in addition to a compliant behavior in the null-space of the main tasks. This issue is critical when robots are employed for complex manipulation in unknown environments and in the presence of human. During the manipulation in the dynamic environments, different objects may collide with the robot body and disturb its manipulation.

This paper addresses the problem of executing multiple prioritized tasks for robot manipulators with compliant behavior in the remaining null space. A novel controller–observer is proposed to ensure accurate accomplishment of various tasks based on a predefined hierarchy using a new priority assignment approach. Force control, position control and orientation control are considered. Moreover, a compliant behavior is imposed in the null space to handle physical interaction without using joint torque measurements.