Optimizing multiple performance criteria in redundant manipulators by subtask-priority control
- Resource Type
- Conference
- Authors
- Weihai Chen; Qixian Zhang; Zhanfang Zhao; Gruver, W.A.
- Source
- 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century Systems, man and cybernetics Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on. 3:2534-2539 vol.3 1995
- Subject
- Robotics and Control Systems
Computing and Processing
Manipulators
Kinematics
Optimization methods
Equations
Weight measurement
Erbium
Humanoid robots
Humans
Motion control
Tracking
- Language
We consider the simultaneous optimization of multiple performance criteria with one redundant degree of freedom, using the concepts of the optimization expectation and the optimization assignment. A method is described for determining subtask-priority in real time. Activities are divided into a main task having high priority and several subtasks having lower priority, where subtasks can be performed by applying redundant operation to the main task. A modified weighted gradient projection method is developed to simultaneously optimize multiple performance criteria for the redundant manipulator. A simulation example demonstrate the effectiveness of the approach.