Multi-Arm Manipulation Planning

Construction requires manipulating objects of various sizes and weights, including long and heavy pipes and beams. to address this need we investigate automatic multi-arm manipulation from two complementary perspectives : control and planning. This paper, which only presents one aspect of our research, focuses on the planning issues underlying multi-arm manipulation.it describes an implemented software system that computes collision-free paths for two arms in order to transport objects from their initial locations (positions and orientations) to specified goal locations .this system demonstrates several kinds of interactions between the two arms : cooperative manipulation of long objects, independent manipulation of small objects, and transfer of objects from one arm to the other to increase the workspace size.