Multiple-goal considerations for redundant manipulators

Fan-Tien Cheng, Feng Ming Chang, York Yin Sun

研究成果: Conference article

1 引文 斯高帕斯(Scopus)


It becomes obvious that a single optimization criterion is not sufficient to deal with complicated task environments when redundant manipulators execute real-world tasks. Therefore, multiple-goal considerations shall be conducted. In this research, a systematic algorithm, namely the Parallel Scheme will be proposed to solve the multiple-goal problem. It can adaptively adjust all the weighting factors of the corresponding goals according to their individual needs under dynamically varying environments. As such, smooth solution sequences are obtained. The 7-DOF CESAR redundant manipulator will be used as an example mechanism to test the proposed algorithms for multiple-goal considerations.

頁(從 - 到)1768-1774
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 1996 一月 1
事件Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
持續時間: 1996 四月 221996 四月 28


All Science Journal Classification (ASJC) codes

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