Distributed event-based control of unifunctional multiple manipulator system

Cooperation of multiple robots has been a very hot research topic. Many different control procedures and task execution strategies are developed. Most of them are centralized and hence become very complex with increase in number of robots or thee's complexity. For this reason, the distributed control approach is found very interesting and event-based control has enhanced its beauty, However they demand robots autonomous in all respects, and hence have found their applications for autonomous mobile robots or manipulator arms with abundant sensors and actuators. This paper in contrast, has wed these control approaches for a nonmobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive, and with minimal sensory informations. Computer simulations have shown it practicable to execute these schemes for such an under-actuated system too.