双机械臂协同装配比单臂快50%以上，且轨迹更优。
Leveraging Two Robotic Arms for Tight Assembly Performance Gains
- 双臂协同规划装配路径，提升整体效率
- 实测平均执行时间减少超50%，轨迹质量更高
- 适合工业自动化与精密装配场景
我们提出一种端到端框架，基于零件的数字CAD模型及其组装后的相对位置，由两台机械臂协同完成装配操作。通过仿真和物理机器人验证，对比单臂系统，双臂协同在紧凑装配任务中具有显著优势。方法在理论上保证了执行时间和轨迹精度，实验表明双臂协作使平均执行时间减少超过50%，生成更高质量的运动轨迹，并加速有效机械臂位姿的搜索。同时，我们给出了机械臂工作空间尺寸的理论边界。项目代码及真实场景视频演示已开源。
原文摘要 · Abstract (English)
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.
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