Improved parallel scheme for multiple-goal priority considerations of redundant manipulators

Fan Tien Cheng, Ming Shan Shih, Fan Chu Kung, York Yin Sun

研究成果: Conference article

5 引文 斯高帕斯(Scopus)


The Parallel Scheme is an effective algorithm to solve the multiple-goal problem of redundant manipulators, but it has limitations. We present an Improved Parallel Scheme to help solve the limitations of the original Parallel Scheme. The original scheme has problems with the redundancy-release capability. We propose using the exponential function to adaptively adjust the weightings under the Improved Parallel Scheme. The original Parallel Scheme uses a reciprocal function. Our solution shows both an improved redundancy-release capability and weighting-adjustment capability. Our Improved Parallel Scheme has these advantages plus original merits of the original Parallel Scheme.

頁(從 - 到)2409-2414
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 1997 一月 1
事件Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
持續時間: 1997 四月 201997 四月 25


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering