Tricriteria Optimization-Coordination Motion of Dual-Redundant-Robot Manipulators for Complex Path Planning.

To remedy the discontinuity phenomenon existing in the infinity-norm velocity minimization (INVM) scheme, prevent the occurrence of high joint velocity, and decrease the joint-angle drift of redundant robot manipulators, a new type of tricriteria optimization-coordination-motion (TCOCM) scheme is proposed and investigated for dual-redundant-robot manipulators to track complex end-effector paths. B...