Instantaneous switching between real-time commands for continuous execution of complex robotic tasks

An application program for one or even several industrial robots usually consists of a number of disjoint commands, with each command controlling the robot to perform a certain task like motions or tool interactions. Sometimes it is desirable to be able to switch from one such command to another command with time guarantees for the switching progress, e.g. for blending one motion into another. In this paper we propose an approach to achieve this with two separate commands, where the second command can be created while the first is already being executed.