Priority considerations for multiple goals of redundant manipulators

Fan-Tien Cheng, Wei Ming Wang, Fan Chu Kung

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


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 languageEnglish
Pages (from-to)264-269
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1994 Dec 1
EventProceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA
Duration: 1994 Oct 21994 Oct 5

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture


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