Manipulators?

Yes:

For example.

That particular device would be a bit more challenging as it has two end-effectors. In theory you could use XYZ for one effector and UVW for the other, but that would require a custom kinematics module. You might also need to change the number of joints supported by EMC2 which is fairly hard-coded at 9 at the moment, but there is a branch which is attempting to remove that limit.

With the standard EMC installation I think you would need a separate PC and EMC2 for each side of the robot.