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The presence of faulty or underactuated manipulators can disrupt theend-effector formation keeping of a team of manipulators. Based on two-linkplanar manipulators, we investigate this end-effector formation keeping problemfor mixed fully- and under-actuated manipulators with flexible joints. In thiscase, the underactuated manipulators can comprise of active-passive (AP)manipulators, passive-active (PA) manipulators, or a combination thereof. Wepropose distributed control laws for the different types of manipulators toachieve and maintain the desired formation shape of the end-effectors. It isachieved by assigning virtual springs to the end-effectors for thefully-actuated ones and to the virtual end-effectors for the under-actuatedones. We study further the set of all desired and reachable shapes for thenetworked manipulators' end-effectors. Finally, we validate our analysis vianumerical simulations.

Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints