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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351186
