An Inverse Kinematics Algorithm with Smooth Task Switching for Redundant Robots

This paper presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task- priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultane- ously. The novelty of the proposed algorithm lies in the ability to smoothly switch between different tasks and thus to allow for a seamless and safe transition during robot operation. This has shown to improve the efficiency and user experience, especially during tele-operated interventions in complex environments.