# Dual UR5 Setup Help

**URL:** <https://forum.universal-robots.com/t/dual-ur5-setup-help/28934>\
**Category:** General Application Help: How do I?\
**Created:** [June 9, 2023, 11:38pm UTC](https://forum.universal-robots.com/t/dual-ur5-setup-help/28934 "2023-06-09T23:38:23Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![nmasurka](https://avatars.discourse-cdn.com/v4/letter/n/839c29/32.png) [@nmasurka](https://forum.universal-robots.com/u/nmasurka)\
**Post date:** [June 9, 2023, 11:38pm UTC](https://forum.universal-robots.com/t/dual-ur5-setup-help/28934/1 "2023-06-09T23:38:23Z")

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Currently, I have a UR5 Robotic Arm mounted on this workbench ([Vention](https://vention.io/designs/272615))  
We plan to add another UR5 robotic arm to this workbench and have these two robotic arms work synchronously to perform tasks similar to a pick-and-place setup on an assembly line. The idea is to have these two robotic arm bases placed at a fixed length from each other, which would most likely be in line along the X-Axis.

I had a few questions regarding that,

- How can I redefine the workspace for both robots so that their trajectories don’t collide? Do I need to buy [this tool](https://www.universal-robots.com/articles/ur/robot-care-maintenance/kinematic-robot-calibration/) to redefine the kinematics of both robotic arms, or can I manually define them through the teach pendant itself?

- Also, I wanted to include the workbench as a part of their workspace so that it doesn’t;t interfere with the table while planning its trajectory.

- Is it possible to have one UR5 and one UR5e? Would there be any issues controlling two separate controllers and synchronizing them?

- Also, can a ROS package (based on MoveIt ROS) be used to perform these tasks? If so, has anyone done something similar?

Any help would be greatly appreciated!

Thanks!