In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and acceleration limits. The problem is reformulated as a bi-level optimization whose lower level is a convex, closed-form subproblem that maximizes path speed for a fixed trajectory, while the upper level updates the trajectory using a single-chain kinematic formulation and the subgradient of the lower-level value. Numerical results demonstrate the effectiveness of the proposed approach.
@article{arxiv.2506.03982,
title = {A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems},
author = {Jonathan Fried and Santiago Paternain},
journal= {arXiv preprint arXiv:2506.03982},
year = {2025}
}