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You might be able to implement something based on the principles of DWA for manipulators, but as noted previously here and here previously, state of the art approaches tend to use other methods that are probably better suited for solving manipulation planning tasks.

It is generally a good approach to first research the state of the art for a given problem and then make a well informed decision on how to research or solve it. Conversely, deciding to use approach X before having a good understanding of how it relates to the problem can lead to frustration later.