Investigation on a New Discrete-Time Synchronous Motion Planning Scheme for Dual-Arm Robot Systems

Recently, the synchronous motion planning (SMP) has been viewed as a crucial issue in dual-arm robot systems. In this study, a new SMP scheme based on the Jacobian pseudoinverse formulation is presented and investigated for dual-arm robot systems. Such a scheme is established by discretizing the existing SMP scheme via a special difference formula. The presented discrete-time SMP (DTSMP) scheme is then theoretically analyzed to possess the biquadrate pattern in the end-effector planning error of each arm, thereby guaranteeing the synchronous planning precision of dual-arm robot systems. Simulation results under the system composed of two four-link planar robot arms are provided to further substantiate the effective and superior performance of the presented DTSMP scheme.