Efficient operation of coordinated multiple robot systems requires continued development in many areas. One such area is the improved understanding of the kinematics or motion of the coordinated manipulators. This project contributes to that knowledge. Specifically, it advances the formulation of the configuration manifold of combined manipulator systems. A configuration manifold for a single body is the combined set of possible rotational and translational states for the body relative to some reference frame. Each manipulator has its own configuration manifold and the intersection of manifolds provides a method for determining the available positions of a workpiece held by multiple manipulators. This research develops a method for finding the intersection. As industrial applications for multiple robots grow, the value of this research becomes more evident.
