Multiple-goal considerations for redundant manipulators

It becomes obvious that a single optimization criterion is not sufficient to deal with complicated task environments when redundant manipulators execute real-world tasks. Therefore, multiple-goal considerations should be considered. In this research, a systematic algorithm, namely the parallel scheme is proposed to solve the multiple-goal problem. It can adaptively adjust all the weighting factors of the corresponding goals according to their individual needs under dynamically varying environments. As such, smooth solution sequences are obtained. The 7-DOF CESAR redundant manipulator is used as an example mechanism to test the proposed algorithms for multiple-goal considerations