Performance Based Redundancy Resolution With Multiple Criteria

Abstract

Abstract This paper presents a scaleable approach to redundancy resolution problems involving multiple criteria. The proposed scheme relies on the disintegration of the inverse kinematics solution from multicriteria decision making. The scheme is composed of systematic generation of a set of inverse kinematics solutions and evaluating these solutions using multiple criteria. The proposed approach is especially promising for problems that can accommodate extensive number of criteria. Weights assigned to different criteria are monitored and adjusted to achieve desired performance goals. The scheme is implemented using an object-oriented operational software framework, and its functionality is tested under interactive real-time control of a 10 degrees of freedom manipulator.