Incorporating multiple criteria in the operation of redundant manipulators

The incorporation of multiple criteria in the operation of redundant manipulators is considered. The criteria investigated in the literature are categorized, and an alternative set of criteria categories is proposed. Criteria normalization and prioritization are discussed. Simulation results for a spatial seven-degree-of-freedom manipulator incorporating four criteria along a self-motion trajectory are given. An animation package for visualizing the simulation results and examining the tradeoffs between criteria is described. The study is intended as a first step toward a decision-making framework that will be used to investigate how a comprehensive set of criteria might be combined to enhance the operation of redundant manipulators