Multiple-goal considerations for redundant manipulators

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

研究成果: Conference article同行評審

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 1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 4月 221996 4月 28

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程


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