High-Precision Motion Planning for Dual-Arm Robot Systems Based on Taylor Expansion Discretization

This paper proposes a novel Discrete-Time Synchronous Motion Planning (DTSMP) method for dual-arm robot systems. Based on the Synchronous Motion Planning framework with Jacobian pseudo-inverse method, our approach employs a fourth-order Taylor expansion difference formula to achieve highprecision discretization of continuous motion trajectories. Theoretical analysis demonstrates that the proposed method follows a biquadrate pattern in end-effector planning error, guaranteeing significant precision improvements over traditional approaches. Simulation results using two four-link planar robot arms show that tracking errors are reduced by approximately 1000 times compared to conventional Euler discretization methods.