The improved parallel scheme for multiple-goal priority considerations of redundant manipulators

Author

Cheng, Fan-tien ; Shih, Ming-Shan ; Kung, Fan-Chu ; Sun, York-Yin

Author_Institution

Inst. of Manuf. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2409

Abstract

The parallel scheme is an effective algorithm to solve the multiple-goal problem of redundant manipulators, but it has limitations. We present an improved parallel scheme to help solve the limitations of the original parallel scheme. The original scheme has problems with the redundancy-release capability. We propose using the exponential function to adaptively adjust the weighting under the improved parallel scheme. The original parallel scheme uses a reciprocal function. Our solution shows both an improved redundancy-release capability and weighting-adjustment capability. Our improved parallel scheme has these advantages plus the original merits of the original parallel scheme

Keywords

Jacobian matrices; manipulator kinematics; optimisation; path planning; redundancy; Jacobian matrix; exponential function; inverse kinematics; joint limit avoidance; multiple-goal priority; obstacle avoidance; parallel scheme; redundancy-release; redundant manipulators; singularity avoidance; weighting-adjustment; Adaptive algorithm; Circuits; Costs; Councils; Degradation; Jacobian matrices; Kinematics; Manufacturing; Quadratic programming; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619322

Filename

619322