Probability-Based Weighting of Performance Criteria for Redundant Manipulators |
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| Authors: | Rajiv V Dubey Scott McGhee Tan F Chan |
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| Affiliation: | (1) Mechanical and Aerospace Engineering, The University of Tennessee, Knoxville, Tennessee, 37996-2210 |
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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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| Keywords: | kinematics manipulator optimization performance criteria redundancy robot |
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