Leveraging Two Robotic Arms for Tight Assembly Performance Gains

原文アブストラクト

We provide a novel end-to-end framework for the execution of an assembly operation by two robotic arms, given the digital CAD models of the parts and their desired relative placement in their assembled state. We analyze and demonstrate the advantages of using two robotic arms simultaneously in tight assembly operations, compared to single-arm systems. Our method is implemented in both simulation and using physical robots. It provides theoretical guarantees on execution time and trajectory accuracy, supported by empirical evidence. In particular, we show that coordinated movement of two arms reduces average execution time by more than 50% compared to using a single arm only, produces higher-quality trajectories, and accelerates the search for valid robot placements. Furthermore, we establish bounds on the required dimensions of the robotic cell. Our open source software together with real-life video demonstrations are available in our project page.