Utilization of multiple parallel robots operating in the same work place and cooperating
on the same job have opened up new challenges in coordination control strategies.
Multiple robot control is a natural progression for Parallel Kinematic Machines (PKM) as
it offers many of the desirable qualities especially in cooperative arrangements where
multiple robots can be associated with an easily reconfigurable parallel machine. These
special characteristics allow much faster and precise manipulations especially in
manufacturing industries. With the possibility of cooperative control architecture, PKMs
will be able to perform many of the tasks currently requiring dual serial robots such as
complex assemblies, heavy load sharing and large machining jobs
