Adopting a system of cooperative manipulators is believed to offer enhanced performance in robotic applications. The use of multiple arms becomes necessary for the execution of all those tasks that go beyond the capabilities of a single arm, e.g. manipulation of large, heavy or non-rigid objects. Cooperation can be successfully performed only when an effective coordination of the arms is realized. This demands for accurate synchronization of relative motions, solution of collision avoidance problems, ease of robot programming, and coordinated control.