Redundancy Resolution With Multiple Criteria

This paper presents a novel method of redundancy resolution with multiple performance criteria. In this method the homogenous solution of differential kinematics is derived as a weighted sum of joint velocities lying in the null space of the manipulator Jacobian instead of establishing an overall ob...

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Bibliographic Details
Main Authors: Kwang-Kyu Lee, Buss, M.
Format: Conference Proceeding
Language:English
Subjects:
Computational efficiency
End effectors
Energy resolution
Fuzzy logic
Intelligent robots
Jacobian matrices
Kinematics
Manipulators
Null space
Real time systems
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Summary:This paper presents a novel method of redundancy resolution with multiple performance criteria. In this method the homogenous solution of differential kinematics is derived as a weighted sum of joint velocities lying in the null space of the manipulator Jacobian instead of establishing an overall objective function as a weighted sum of multiple criteria. It remarkably increases flexibility in adding new secondary performance criteria since it does not require to recalculate the gradient of new overall objective function. A systematic design of variable weights is introduced to actively reflect the instant states of each criterion in real-time. Experimental results with a 7-DOF redundant robot illustrate the validity of the proposed scheme
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282538