Multiple-goal priority considerations of redundant manipulators

In this paper, a systematic algorithm, the Parallel Scheme, is proposed to solve the multiple-goal problem of redundant manipulators. It can adaptively adjust all the weighting factors of the corresponding goals according to their individual needs. Therefore, conflicts due to redundancy competition are resolved. To upgrade the redundancy-release capability of the original Parallel Scheme, the Improved Parallel Scheme is also developed by using the exponential function to adjust the weightings. The Improved Parallel Scheme is shown to improve both the redundancy-release capability and the weighting-adjustment capability while retaining all the merits of the original Parallel Scheme.