Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A practical method to obtain the global time optimal motions of robotic manipulators is presented. This method takes into account the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. Previously developed methods of optimizing manipulator motions along given paths and a local path optimization are utilized. A set of best paths is obtained first in a global search over the manipulator workspace, using graph search and hierarchical pruning techniques. These paths are used as initial conditions for a continuous path optimization to yield the global optimal motion. Examples of optimized motions of a six-degree-of-freedom manipulator, operating in a three-dimensional space with obstacles, are presented. >
['Zvi Shiller', 'Steven Dubowsky']
I am writing a research paper on a idea Global time optimal motions of robotic manipulators in the presence of obstacles
[{"from": "human", "value": "I am writing a research paper on a idea Global time optimal motions of robotic manipulators in the presence of obstacles"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A practical method to obtain the global time optimal motions of robotic manipulators is presented. This method takes into account the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. Previously developed methods of optimizing manipulator motions along given paths and a local path optimization are utilized. A set of best paths is obtained first in a global search over the manipulator workspace, using graph search and hierarchical pruning techniques. These paths are used as initial conditions for a continuous path optimization to yield the global optimal motion. Examples of optimized motions of a six-degree-of-freedom manipulator, operating in a three-dimensional space with obstacles, are presented. >"}]