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Multiple-goal priority considerations of redundant manipulators

Published online by Cambridge University Press:  01 November 1997

Fan-Tien Cheng  and
Ming-Shan Shih
Fan-Tien Cheng
Affiliation:
Institute of Manufacturing Engineering National Cheng Kung University Tainan, Taiwan R.O.C.
Ming-Shan Shih
Affiliation:
Department of Electrical Engineering National Cheng Kung University Tainan, Taiwan R.O.C.
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Abstract

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.

Keywords

Redundant manipulatorsMultiple goalsPriority considerations
Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 675 - 691
Copyright
© 1997 Cambridge University Press

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Footnotes

This work was supported by the National Science Council, Republic of China, under contract NSC-85-2213-E-006-065.