A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria

— This paper addresses the problem of generating optimal joint trajectories for redundant manipulators when multiple criteria are to be considered. A dynamic programming approach is proposed to generate the Pareto optimal solutions without having to deal with the shortcomings of the traditional weighting method. The two approaches are implemented on the model of a 7-DOF redundant manipulator with the endeffector moving along a prescribed trajectory, while the joint trajectories are required to minimize two performance criteria. The results prove that the dynamic programming approach provides a better approximation of the Pareto optimal set and more flexible and predictable framework to control the objective vectors.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: A. Guigue, Mojtaba Ahmadi, M. J. D. Hayes, R. Langlois, F. C. Tang
• Keywords: Dynamic Programming Approach, ICRA 2007, Optimal Joint Trajectories, Pareto Optimal, Robotics