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Probability-based weighting of performance criteria for a redundant manipulator

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4 Author(s)
S. McGhee ; Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA ; T. F. Chan ; R. V. Dubey ; R. L. Kress

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

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994