A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria

• Generation of optimal joint trajectories with respect to multiple criteria for redundant manipulators

• Comparison between the traditional weighting method and a new approach based on Dynamic Programming with Pareto optimality

• Simulation on the 7-DOF redundant manipulator as part of a Captive Trajectory Simulation (CTS) system.

A. Guigue, M. Ahmadi, M.J.D. Hayes and R. Langlois Mechanical and Aerospace Engineering Dept., Carleton University, Canada

F.C. Tang Institute for Aerospace Research (IAR), National Research Council, Canada