Robotic system to control multiple robots to perform a task cooperatively

A method for performing a cooperative task with respect to an object, comprising:

• moving a robotic arm associated with a first robot having a first end effector to a first grasp point to grasp the object based on a second grasp point at which a second robot has indicated it will grasp the object;
• receiving from the second robot an end effector position and orientation of a second end effector associated with the second robot relative to the object associated with the cooperative task;
• and
• computing a new target position and orientation for the first end effector associated with the first robot based in part on the received end effector position and the received orientation information of the second end effector associated with the second robot relative to the object associated with the cooperative task and information about the object associated with the cooperative task.

A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for performing a cooperative task with respect to an object, the computer instructions for:

• moving a robotic arm associated with a first robot having a first end effector to a first grasp point to grasp the object based on a second grasp point at which a second robot has indicated it will grasp the object;
• receiving from the second robot an end effector position and orientation of a second end effector associated with the second robot relative to the object associated with the cooperative task;
• and
• computing a new target position and orientation for the first end effector associated with the first robot based in part on the received end effector position and the received orientation information of the second end effector associated with the second robot relative to the object associated with the cooperative task and information about the object associated with the cooperative task.