Robots are typically expected to perform multiple tasks. For realizing multiple tasks using multi-degrees-of-freedom of a robot. priority control was developed. The priority control prioritizes conflicting tasks by projecting lower-priority task velocity into a null space of higher-priority task spaces. https://www.roneverhart.com/MagnaFlow-2001-2005-Honda-Civic-Street-Series-Cat-Back-Performance-Exhaust-System/