Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore

Dual Arm Manipulation Strategy for Tight Space Manipulation

Audelia Gumarus Dharmawan and Gim Song Soha

Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372


With the increase in automation and usage of collaborative robots in both fixed and changing environments, there is a high interest in utilizing dual arm robots to expand the possibilities to manipulate more complex or heavy objects with human-like capabilities. However, planning for dual arm manipulation is more complicated and is even more challenging when done in tight spaces in a changing environment, due to the added constraints that need to be fulfilled and the much-reduced feasible solutions. In this paper, we explore and discuss our current strategies to increase the chance of successfully finding the solutions to the dual arm manipulation planning problems, especially when performed in tight spaces. The problem statement is described, and the experimental simulations are reported and analyzed.

Keywords: Dual arm, Manipulation, Motion planning.

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