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This work is confined to only the kinematics of two robot arms; other problems like control, force distribution, and so on are not addressed here. A particular case of a material handling problem with two collaborating robot arms loading\/unloading long objects from a conveyor is studied. The feasibility of the task from a kinematics point of view, and the necessary conditions and constraints for the relative set\u2010up of the two manipulators are discussed. These conditions originate from the working envelope of the two arms which depends on three factors: the working envelope of each individual arm, the spacing between them, and the dimensions of the workpiece. To assist this study, an efficient algorithm for determining the two\u2010dimensional contours of the workspace of a single arm is included.<\/jats:p>","DOI":"10.1002\/rob.4620080103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:47:57Z","timestamp":1183718877000},"page":"21-37","source":"Crossref","is-referenced-by-count":4,"title":["A case study of two\u2010robot\u2010arm workcell material handling"],"prefix":"10.1002","volume":"8","author":[{"given":"A.","family":"Hemami","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Ranjbaran","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R. M. H.","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"F. 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