Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The minimum-time path for a robot arm has been a long-standing and unsolved problem of considerable interest.  present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search. The solution incorporates full dynamics of movement and actuator constraints, and can be easily extended for joint limits and workspace obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general, the optimal paths are not straight lines, but rather curves in joint-space that utilize the dynamics of the arm and gravity to help in moving the arm faster to its destination. Implementation difficulties due to the tesselation and to combinatorial proliferation of paths are discussed.
['Gideon Sahar', 'John M. Hollerbach']
I am writing a research paper on a idea Planning a minimum-time trajectories for robot arms
[{"from": "human", "value": "I am writing a research paper on a idea Planning a minimum-time trajectories for robot arms"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The minimum-time path for a robot arm has been a long-standing and unsolved problem of considerable interest.  present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling algorithm, and graph search. The solution incorporates full dynamics of movement and actuator constraints, and can be easily extended for joint limits and workspace obstacles, but is subject to the particular tesselation scheme used. The results presented show that, in general, the optimal paths are not straight lines, but rather curves in joint-space that utilize the dynamics of the arm and gravity to help in moving the arm faster to its destination. Implementation difficulties due to the tesselation and to combinatorial proliferation of paths are discussed."}]