Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  investigate the instantaneous impact phenomenon due to the collision beten the manipulator and the environment for kinematically redundant manipulators. First,  define a normalized impact geometry in the viewpoint of normalized velocity change.  then reduce the impulsive effects under uncertain environment for redundant manipulators. A new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments.
['Jinhyun Kim', 'Wan Kyun Chung', 'Youngil Youm']
I am writing a research paper on a idea Normalized impact geometry and performance index for redundant manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Normalized impact geometry and performance index for redundant manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  investigate the instantaneous impact phenomenon due to the collision beten the manipulator and the environment for kinematically redundant manipulators. First,  define a normalized impact geometry in the viewpoint of normalized velocity change.  then reduce the impulsive effects under uncertain environment for redundant manipulators. A new impact performance index based on velocity direction is proposed. Finally, the performance of the proposed index is demonstrated by numerical examples and experiments."}]