Probability-Based Weighting of Performance Criteria for Redundant Manipulators

被引：0
|
作者：
Rajiv V. Dubey
Scott McGhee
Tan F. Chan
机构：
[1] The University of Tennessee,Mechanical and Aerospace Engineering
来源：
Journal of Intelligent and Robotic Systems | 1997年 / 19卷
关键词：
kinematics; manipulator; optimization; performance criteria; redundancy; robot;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
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收藏
页码：89 / 103
页数：14
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