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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