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A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria

A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria. 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.

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A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria

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  1. A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria A. Guigue, M. Ahmadi, M.J.D. Hayes and R. LangloisMechanical and Aerospace Engineering Dept., Carleton University, CanadaF.C. TangInstitute for Aerospace Research (IAR), National Research Council, Canada • 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.

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