Ferreira, NunoMachado, J. A. Tenreiro2015-12-102015-12-10200285-900351-3-1http://hdl.handle.net/10400.22/7162Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determine the adequate values for the robot parameters to obtain a good performence. This paper discusses several aspects related with the manipulability of two co-operative robots when handling objects with different lengths and orientations. In this line of thought, a numerical tool is developed for the calculation and the graphical visualization of the manipulability measure.engbook part