Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Inverse kinematics algorithms are commonly used in robotic systems to achieve desired behavior, and several methods exist to ensure the achievement of numerous tasks simultaneously. The multiple task-priority inverse kinematics framework allows a consideration of tasks in a prioritized order by projecting task velocities through the null-spaces of higher priority tasks. Recent results have extended this framework from equality tasks to also handling set-based tasks, i.e. tasks that have an interval of valid values. The purpose of this paper is to further investigate and experimentally validate this algorithm and its properties. In particular, this paper presents experimental results where a number of both set-based and equality tasks have been implemented on the 6 Degree of Freedom UR5 which is an industrial robotic arm from Universal Robots. The experiments validate the theoretical results.