The Improved Parallel Scheme for Multiple-Goal Priority Considerations of Redundant Manipulators

• Main Authors: Ming-Shan Shih, 石明山
• Other Authors: Fan-Chu Kung Fan-Tien Cheng
• Format: Others
• Language: en_US
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/06840660204736652840

碩士 === 國立成功大學 === 電機工程研究所 === 84 === The Parallel Scheme is an effective algorithm for resolving the multiple-goal problem of redundant manipulators. It can consider as many goals as possible provided that there is enough redundant and the corresponding necessity indices for all goals with pre- defined priority can be properly defined. However, we have discovered that the redundancy-release capability for the Parallel Scheme is not as good as expected. This phenomenon will degrade the ability for the Parallel Scheme to accomplish multiple goals under complicated task environments. To improve the redundancy- release capability such that the efficiency for achieving multiple goals can be enhanced, the Improved Parallel Scheme is developed in this thesis. Instead of using the reciprocal function, the Improved Parallel Scheme utilizes the exponential function to adaptively adjust the weightings. As a result, it is shown that the Improved Parallel Scheme can improve the redundancy- release capability and the weighting-adjustment capability while retaining all the merits of the original Parallel Scheme.