A method of controlling a robot comprising a first manipulator and a second manipulator, the method comprising: receiving a trajectory plan comprising a plurality of sequential motion segments, wherein each motion segment corresponds to a component of the first manipulator or a component of the second manipulator, and the trajectory plan is operable to be executed by the robot to sequentially control the first manipulator and the second manipulator over a time period; determining a moveable motion segment within the trajectory plan; shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments, thereby generating an optimized trajectory plan; and controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator wherein determining the moveable motion segment comprises evaluating each motion segment starting from a last motion segment in the time period toward a first motion segment in the time period by determining if moving each motion segment would case a conflict between the first manipulator, the second manipulator, or a target object; and wherein a particular motion segment is moveable when: a predecessor motion segment adjacent to the particular motion segment does not correspond to a same manipulator as the particular motion segment; the particular motion segment is not bonded to one or more other motion segments; and the particular motion segment corresponds to only one component of the first manipulator or the second manipulator. receiving a trajectory plan comprising a plurality of sequential motion segments, wherein each motion segment corresponds to a component of the first manipulator or a component of the second manipulator, and the trajectory plan is operable to be executed by the robot to sequentially control the first manipulator and the second manipulator over a time period; determining a moveable motion segment within the trajectory plan; shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments, thereby generating an optimized trajectory plan; and controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator wherein determining the moveable motion segment comprises evaluating each motion segment starting from a last motion segment in the time period toward a first motion segment in the time period by determining if moving each motion segment would case a conflict between the first manipulator, the second manipulator, or a target object; and wherein a particular motion segment is moveable when: a predecessor motion segment adjacent to the particular motion segment does not correspond to a same manipulator as the particular motion segment; the particular motion segment is not bonded to one or more other motion segments; and the particular motion segment corresponds to only one component of the first manipulator or the second manipulator. a predecessor motion segment adjacent to the particular motion segment does not correspond to a same manipulator as the particular motion segment; the particular motion segment is not bonded to one or more other motion segments; and the particular motion segment corresponds to only one component of the first manipulator or the second manipulator.