Priority considerations for multiple goals of redundant manipulators

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.