A continuous task transition algorithm for operational space control framework

As more sophisticated robots are being developed, robots are increasingly expected to execute many types of task sets sequentially or simultaneously. When these multiple task sets are executed, the controllers of the robots should be able to deal dynamically with task changes. Especially during the task transitions, there will be discontinuous behaviors of robots in the absence of careful consideration of control. In this paper, a task transition approach is proposed to provide continuous task transitions and to ensure stable behavior of robots within the operational space control framework. In the proposed approach, the control law is not modified but the control command is composed using intermediate desired values. In this paper, a continuous task transition algorithm is applied for singularity avoidance and for joint limit avoidance purposes during the control of a 6-DOF manipulator to demonstrate its performance.