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Probability-Based Weighting of Performance Criteria for Redundant Manipulators

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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.

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Authors and Affiliations

  1. Mechanical and Aerospace Engineering, The University of Tennessee, Knoxville, Tennessee, 37996-2210

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

Authors
  1. Rajiv V. Dubey
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  2. Scott McGhee
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  3. Tan F. Chan
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Dubey, R.V., McGhee, S. & Chan, T.F. Probability-Based Weighting of Performance Criteria for Redundant Manipulators. Journal of Intelligent and Robotic Systems 19, 89–103 (1997). https://doi.org/10.1023/A:1007949601160

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  • DOI: https://doi.org/10.1023/A:1007949601160

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