Redundancy resolution with multiple criteria

Kwang Kyu Lee, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

26 Scopus citations

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.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages598-603
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period9/10/0615/10/06

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