Abstract
So far, most of the researches on the kinematic redundancy resolution of redundant manipulators have focused on a single optimization criterion. However, in many cases, unique optimization criterion is not sufficient to deal with the complicated task environments. Hence, taking multiple goals into considerations simultaneously is a new research area. In this paper, with the Compact QP (quadratic programming) formulation, a systematic algorithm using Parallel Scheme and Pre-adjustment (PSP) will be developed for resolving the multiple-goal problem. In this approach, first, the decision making strategies are proposed for the multiple-goal considerations. With the decision making strategies, the Parallel Scheme is developed for weighting adjustment. Also, the Pre-adjustment is proposed to generate proper weighting factors for the next sampling interval. An example is used to demonstrate the superiority and universality of this systematic algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 264-269 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 1 |
| Publication status | Published - 1994 Dec 1 |
| Event | Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA Duration: 1994 Oct 2 → 1994 Oct 5 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture