Leveraging Two Robotic Arms for Tight Assembly Performance Gains
2026-07-20 • Robotics
Robotics
AI summaryⓘ
The authors created a system where two robotic arms work together to assemble parts based on their digital models. They show that using two arms at once is faster—cutting the time by more than half—and makes better movement plans than using just one arm. The system was tested both in computer simulations and with real robots, and the authors also figured out how much space is needed for the robots to work properly. They shared their software and videos to demonstrate their results.
robotic armsassembly operationCAD modelstrajectory planningrobot coordinationexecution timesimulationrobotic celltrajectory accuracyopen source software
Authors
Dror Livnat, Yuval Lavi, Michael M. Bilevich, Dan Halperin
Abstract
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.