Not at all. For one, it would've cost a hell of a lot more back then. Secondly, no one seems to realize that Wii U has already launched with Nintendo's biggest franchise: 2D Mario. Something like Zelda really isn't big enough a deal to contribute significantly to the launch if even 2D Mario didn't do Wii U any good. As such, it would've failed as much as or even more than it did right now. Not to mention, 2010 in particular was a strong year for game consoles as a whole. If Wii U had launched then, the contrast between its low sales and the high Wii/HD sales would have been even more embarrassing.
What they should have done is kept the Wii alive longer. It wouldn't have been very hard and would have been much more profitable an endeavor. Sure, there was never any chance of beating PS360 combined in its later years, but the Wii could have easily held up with continuing big Nintendo games (and more Just Dance-esque third party games) and matched the HD consoles individually even last year. Then, they could launch Wii U sometime this year with a lot more brand momentum to fall back on.