This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework’s effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

Abstract
 1. 서 론
 2. 통합 프레임워크
  2.1 작업 전이 알고리즘
  2.2 장애물 회피 알고리즘
  2.3 통합 프레임워크
 3. 실 험
  3.1 실험 환경
  3.2 실험 결과
   3.2.1 관절 한계 회피
   3.2.2 특이점 회피
   3.2.3 알고리즘 특이점 회피
   3.2.4 장애물 회피
   3.2.5 통합 프레임워크
   3.2.6 폐루프 역기구학의 되먹임 이득 행렬 값에 따른 특이점 회피 알고리즘의 민감도 분석
 4. 결 론
 References

• 장근우(Graduate School of Convergence Science and Technology, Seoul National University) | Keunwoo Jang
• 김상현(Graduate School of Convergence Science and Technology, Seoul National University) | Sanghyun Kim
• 박수한(Graduate School of Convergence Science and Technology, Seoul National University) | Suhan Park
• 박재흥(Graduate School of Convergence Science and Technology, Seoul National University, Advanced Institutes of Convergence Technology) | Jaeheung Park Corresponding author