Usually, a single optimization criterion for redundancy resolution of redundant manipulators is used in the literature. However, in many cases, a single optimization criterion is not sufficient to deal with complicated task environments. Hence, taking multiple goals into consideration simultaneously is a new research area for redundant manipulators. 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, a Pre-adjustment is proposed to generate proper weighting factors for the next sampling interval. Two examples are used to demonstrate the superiority and universality of this systematic algorithm. From the simulation results, it is believed that the PSP systematic algorithm together with the Compact QP method provide a general and effective approach to resolve the multiple-goal problem of redundant manipulators.
|頁（從 - 到）||499-513|
|期刊||Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an|
|出版狀態||Published - 1996 一月 1|
All Science Journal Classification (ASJC) codes