Multiple Tasks Transition Algorithm for Dynamic Control of Intelligent Robots

Abstract

In recent years, there have been great attention on intelligent robots that can be deployed in our human environment. Differently from traditional application of the robots, these robots are expected to perform various complex tasks sequentially or simultaneously, depending on their applications. These complex tasks are combined by several different kinds of tasks and with different levels of priorities. In executing multiple tasks, continuous and stable transition among these tasks can be one of the important issues. In this paper, the problem of task transition is discussed to achieve smooth and continuous transitions among tasks effectively and to remove oscillatory behavior due to the discontinuous command. Instead of modifying control laws, it is proposed to command the intermediate desired values to the existing controllers. The proposed approach deals with the tasks with priorities for inserting, removing, and swapping tasks. The performance of the algorithm is verified in simulation and physical robots in the cases of multi-point control, joint limit avoidance, and swapping priorities of task sets. Moreover, humanoid robot application is demonstrated by the proposed work. And stability of controller, which the proposed approach is applied, is validated by Lyapunov stability theorem and gain proportion change in PD controller.