Hierarchical tracking task control in redundant manipulators with compliance control in the null-space
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.