DocumentCode
2331601
Title
Probability-based weighting of performance criteria for a redundant manipulator
Author
McGhee, Scott ; Chan, Tan F. ; Dubey, Rajiv V. ; Kress, Reid L.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
fYear
1994
fDate
8-13 May 1994
Firstpage
1887
Abstract
A method to simultaneously optimize multiple performance criteria for a redundant manipulator is presented. Preferred formulation requirements for the criteria are discussed, and previously proposed normalization methods are examined. A statistically based variable weighting technique is developed and evaluated. A seven-degree-of freedom Robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme
Keywords
manipulators; optimisation; probability; redundancy; statistical analysis; multiple criteria optimization; normalization methods; performance criteria; preferred formulation requirements; probability-based weighting; redundant manipulator; seven-degree-of freedom Robotics Research Corporation manipulator; statistically based variable weighting technique; Aerospace engineering; Cost function; End effectors; Manipulators; Optimization methods; Orbital robotics; Position control; Service robots; Testing; Welding;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351186
Filename
351186
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