Optimizing multiple performance criteria in redundant manipulators by subtask-priority control

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