Probability-based weighting of performance criteria for a redundant manipulator

S. McGhee, T.F. Chan, R.V. Dubey, R.L. Kress
Proceedings of the 1994 IEEE International Conference on Robotics and Automation  
A method to simultaneously optimize multiple pegormance 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-offreedom Robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme.
doi:10.1109/robot.1994.351186 dblp:conf/icra/McGheeCDK94 fatcat:yqyvsykrh5fszjkonybtrsfae4