Redundancy resolution with multiple criteria

Kwang Kyu Lee, Martin Buss

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

26 Zitate (Scopus)

Abstract

This paper presents a novel method of redundancy resolution with multiple performance criteria. In this method the homogenous solution of differential kinematics is derived as a weighted sum of joint velocities lying in the null space of the manipulator Jacobian instead of establishing an overall objective function as a weighted sum of multiple criteria. It remarkably increases flexibility in adding new secondary performance criteria since it does not require to recalculate the gradient of new overall objective function. A systematic design of variable weights is introduced to actively reflect the instant states of each criterion in real-time. Experimental results with a 7-DOF redundant robot illustrate the validity of the proposed scheme.

OriginalspracheEnglisch
Titel2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Seiten598-603
Seitenumfang6
DOIs
PublikationsstatusVeröffentlicht - 2006
Veranstaltung2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Dauer: 9 Okt. 200615 Okt. 2006

Publikationsreihe

NameIEEE International Conference on Intelligent Robots and Systems

Konferenz

Konferenz2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Land/GebietChina
OrtBeijing
Zeitraum9/10/0615/10/06

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