Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space. Using the manipulability constraint locus, the topological property of the configuration space and the invertible workspace without singularities are analyzed. Through numerical example, some limitations of the inverse kinematic algorithms when one utilizes the redundancy are investigated. Finally, a promising algorithm which provides a conservative joint trajectory without singularities for almost entire workspace is proposed. >
['Byoung Wook Choi', 'Jong Hwa Won', 'Myung Jin Chung']
I am writing a research paper on a idea Manipulability constraint locus for a redundant manipulator
[{"from": "human", "value": "I am writing a research paper on a idea Manipulability constraint locus for a redundant manipulator"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space. Using the manipulability constraint locus, the topological property of the configuration space and the invertible workspace without singularities are analyzed. Through numerical example, some limitations of the inverse kinematic algorithms when one utilizes the redundancy are investigated. Finally, a promising algorithm which provides a conservative joint trajectory without singularities for almost entire workspace is proposed. >"}]