Task Priority Control of Robot Manipulators

A replication of some of the results in [1]. A three-link manipulator is controlled using the proposed method. The highest-priority task is reference tracking, ensuring that the end effector remains at the desired position. The second-priority task is maintaining the orientation of the end effector at a desired angle. The results are shown in the following GIF.

Run

Run the .m files in the following order

1. model.m To create a representation of the system
2. controller.m To create a representation of the controller
3. plot_data.m To run a simulation of the system and plot the results

By default the code is set to generate a GIF. This can be turned off by setting the save_gif variable to false.

Reference

Y. Nakamura, H. Hanafusa, and T. Yoshikawa, “Task-Priority Based Redundancy Control of Robot Manipulators,” The International Journal of Robotics Research, vol. 6, no. 2, pp. 3–15, Jun. 1987, doi: 10.1177/027836498700600201.