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This paper develops a planner that plans the action sequences and motion fora dual-arm robot to lift up and flip heavy plates using crane pulley blocks.The problem is motivated by the low payload of modern collaborative robots.Instead of directly manipulating heavy plates that collaborative robots cannotafford, the paper develops a planner for collaborative robots to operate cranepulley blocks. The planner assumes a target plate is pre-attached to the cranehook. It optimizes dual-arm action sequences and plans the robot's dual-armmotion that pulls the rope of the crane pulley blocks to lift up the plate. Thecrane pulley blocks reduce the payload that each robotic arm needs to bear.When the plate is lifted up to a satisfying pose, the planner plans a pushingmotion for one of the robot arms to tumble over the plate while consideringforce and moment constraints. The article presents the technical details of theplanner and several experiments and analysis carried out using a dual-arm robotmade by two Universal Robots UR3 arms. The influence of various parameters andoptimization goals are investigated and compared in depth. The results showthat the proposed planner is flexible and efficient.

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks