Title :
The improved parallel scheme for multiple-goal priority considerations of redundant manipulators
Author :
Cheng, Fan-tien ; Shih, Ming-Shan ; Kung, Fan-Chu ; Sun, York-Yin
Author_Institution :
Inst. of Manuf. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
The parallel scheme is an effective algorithm to solve the multiple-goal problem of redundant manipulators, but it has limitations. We present an improved parallel scheme to help solve the limitations of the original parallel scheme. The original scheme has problems with the redundancy-release capability. We propose using the exponential function to adaptively adjust the weighting under the improved parallel scheme. The original parallel scheme uses a reciprocal function. Our solution shows both an improved redundancy-release capability and weighting-adjustment capability. Our improved parallel scheme has these advantages plus the original merits of the original parallel scheme
Keywords :
Jacobian matrices; manipulator kinematics; optimisation; path planning; redundancy; Jacobian matrix; exponential function; inverse kinematics; joint limit avoidance; multiple-goal priority; obstacle avoidance; parallel scheme; redundancy-release; redundant manipulators; singularity avoidance; weighting-adjustment; Adaptive algorithm; Circuits; Costs; Councils; Degradation; Jacobian matrices; Kinematics; Manufacturing; Quadratic programming; Vectors;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619322
