Priority considerations for multiple goals of redundant manipulators

Fan-Tien Cheng, Wei Ming Wang, Fan Chu Kung

研究成果: Conference article同行評審

2 引文 斯高帕斯(Scopus)

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
1
出版狀態Published - 1994 十二月 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 十月 21994 十月 5

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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