Robot Video: MotoMan dual Robot Arm

I've been fascinated for some time with two-armed robot systems. I found this video on the MotoMan dual-armed robot system, showing assembly of a chair.

It's interesting to watch the dual end-effectors (hands) -- each arm has two hands, that are mounted in different orientations.

Anyway, it is fascinating to watch the smooth motion of this robot. That is a lot of joints all going at once, and keeping track of all that geometry has to be a chore.

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