Workspace Exploration and Kinematic Design of a 6-DOF Dual-Arm Robotic System

Dual-arm manipulation systems hold the potential to revolutionize complex industrial and defense applications by enabling coordinated, human-like hand actions. This paper presents an in-depth workspace analysis of dual-arm manipulation using MATLAB, with a focus on visualizing and analyzing the collaborative workspace between two UR5e robotic arms. The Denavit-Hartenberg (DH) parameters for each arm are identified to accurately model their kinematic structures, and the forward kinematic solutions are derived to guide motion planning. Additionally, the collaborative workspace is computed and visualized using a Monte Carlo method, providing a probabilistic approach to assess reachability and interaction zones between the two arms. The results highlight the significance of workspace overlap and collision avoidance on task efficiency and precision. This study offers valuable insights into optimizing dual-arm systems for complex, coordinated tasks, with a particular emphasis on space utilization and coordinated control strategies across various applications.