Task hierarchy for position limitation and bilateral control by oblique coordinate control

This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by ¿task mass matrix¿ and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.