Is it possible to be made a knot and from how many robotic arms?

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Imagine two robotic arms are holding twine which is positioned vertically and robotic arms are moving horizontally towards a horizontal metal wire from left to the right direction as the twine touches the wire with it's middle part, robotic arms continue to move forward so that the twine begins to flex in a form similar to parabola, or more precisely in a form of the Latin letter V but rotated by -90 degrees, i.e., it looks like "less than" sign from mathematics. Which equation / equations can make a knot of the two ends of this twine or what source code is needed for both robotic arms to make a knot or are 2 robotics arms only enough for this procedure?