Whether Lucas admits it or not, he has remained true to his originial ideals, setting the frame work in the three most recent installments for numbers 7, 8 and 9: The Ressurection of SKYWALKER... his ascention as the most powerful JEDI of them all. "
Actually, Vader was originally supposed to die at the end of ANH. The "third installment" was going to focus on Luke, his sister (not Leia at this point), and finally meeting the Emperor in Episode 9. Lucas decided to wrap things up by showing Palps in ROTJ, and making Leia Luke's sister.