摘要
So far, most of the researches on the kinematic redundancy resolution of redundant manipulators have focused on a single optimization criterion. However, in many cases, unique optimization criterion is not sufficient to deal with the complicated task environments. Hence, taking multiple goals into considerations simultaneously is a new research area. 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, the Pre-adjustment is proposed to generate proper weighting factors for the next sampling interval. An example is used to demonstrate the superiority and universality of this systematic algorithm.
原文 | English |
---|---|
頁(從 - 到) | 264-269 |
頁數 | 6 |
期刊 | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
卷 | 1 |
出版狀態 | Published - 1994 12月 1 |
事件 | Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA 持續時間: 1994 10月 2 → 1994 10月 5 |
All Science Journal Classification (ASJC) codes
- 控制與系統工程
- 硬體和架構