Solar energy paper index
Leveraging Two Robotic Arms for Tight Assembly Performance Gains
One-line summary
A solar energy research paper on Leveraging Two Robotic Arms for Tight Assembly Performance Gains.
Engineering notes
Engineering notes will be added by the Power for Solar editorial team.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为光伏效率、钙钛矿太阳能电池、储能技术、太阳能热利用、BIPV、并网技术等高价值论文补充中文说明。
Original 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.
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