ORIGINAL RESEARCH article
Front. Neurorobot.
Volume 19 - 2025 | doi: 10.3389/fnbot.2025.1579949
A New Discrete-Time Scheme for Synchronous Motion Planning in Dual-Arm Robotic Systems
Provisionally accepted
- 1University of Science and Technology Liaoning, Anshan, China
- 2Hainan University, Haikou, Hainan Province, China
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Synchronous motion planning (SMP) has a critical challenge in the field of dual-arm robotic systems. This paper proposes a new discrete-time SMP (DTSMP) scheme specifically designed for such systems. The proposed DTSMP scheme is derived by discretizing a continuous-time SMP (CTSMP) scheme using a special difference rule. Theoretical analysis confirms that the DTSMP scheme yields a quintic error pattern in the end-effector motion planning, thereby ensuring high-precision synchronization of the dual arms. To evaluate its effectiveness, simulations are performed on a system composed of two five-link planar robotic arms.
Keywords: Dual-arm robotic systems, Difference rule, quintic error pattern, synchronous motion planning, Synchronous accuracy
Received: 19 Feb 2025; Accepted: 02 Jun 2025.
Copyright: © 2025 Zhang and Naimeng. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Qingsi Zhang, University of Science and Technology Liaoning, Anshan, China
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