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Probability-Based Weighting of Performance Criteria for Redundant Manipulators (1997)

Dubey, Rajiv V. ; McGhee, Scott ; Chan, Tan F.

Springer

Journal of intelligent and robotic systems 19 (1997), S. 89-103

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ISSN: 1573-0409

Keywords: kinematics ; manipulator ; optimization ; performance criteria ; redundancy ; robot

Source: Springer Online Journal Archives 1860-2000

Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics

Notes: Abstract A method to simultaneously optimize multiple performance criteria for a redundant manipulator is presented. Preferred formulation requirements for the criteria are discussed, and previously proposed normalization methods are examined. A statistically based variable weighting technique is developed and evaluated. A seven-degree-of-freedom Robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1023/A:1007949601160

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