  In the last years, several hierarchical frameworks have been proposed to deal
with highly-redundant robotic systems. Some of that systems are expected to
perform multiple tasks and physically to interact with the environment.
However, none of the proposed frameworks is able to manage multiple tasks with
arbitrary task dimensions, while respecting unilateral constraints at position,
velocity, acceleration and force level, and at the same time, to react
intuitively to external forces. This work proposes a framework that addresses
this problem. The framework is tested in simulation and on a real robot. The
experiments on the redundant collaborative industrial robot (KUKA LBR iiwa)
demonstrate the advantage of the framework compared to state-of-the-art
approaches. The framework reacts intuitively to external forces and is able to
limit joint positions, velocities, accelerations and forces.
