Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Aimed at the coordinated workspace and motion trajectory of the redundant dual-arm robot, the corresponding methods of workspace analysis and trajectory planning are proposed in this paper. Firstly, forward kinematics model of redundant dual-arm robot was established by D-H parameter method, and its inverse kinematics analytic solutions re given according to the decoupling configuration of robot. Thereafter, Monte Carlo method was proposed in analyzing the coordinated workspace, and non-uniform rational B-spline (NURBS) curves re used for the trajectory fitting. At last, the rationality of the redundant dual-arm robot structure design, and the feasibility of NURBS curve method for the trajectory fitting re verified by a visual simulation in the environment of MATLAB Robotics Toolbox.
['Kang Shengzheng', 'Hongtao Wu', 'Li Yao', 'Ding Li']
I am writing a research paper on a idea Coordinated workspace analysis and trajectory planning of redundant dual-arm robot
[{"from": "human", "value": "I am writing a research paper on a idea Coordinated workspace analysis and trajectory planning of redundant dual-arm robot"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Aimed at the coordinated workspace and motion trajectory of the redundant dual-arm robot, the corresponding methods of workspace analysis and trajectory planning are proposed in this paper. Firstly, forward kinematics model of redundant dual-arm robot was established by D-H parameter method, and its inverse kinematics analytic solutions re given according to the decoupling configuration of robot. Thereafter, Monte Carlo method was proposed in analyzing the coordinated workspace, and non-uniform rational B-spline (NURBS) curves re used for the trajectory fitting. At last, the rationality of the redundant dual-arm robot structure design, and the feasibility of NURBS curve method for the trajectory fitting re verified by a visual simulation in the environment of MATLAB Robotics Toolbox."}]