This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point other than the object's center of gravity produces undesired moments. The undesired moment acts as an additional moment. It improves the capability of an individual manipulator and, hence, the entire collaborative group. Any improvements in task capability directly add up to the object and transportation capability. The group's enhanced capability also helps achieve optimal capability, optimal resource allocation, and maximum fault tolerance in object manipulation. Our simulation results show an improvement in the capability of 5.86 \% compared to when no moment is used to enhance the capability of the manipulators.

翻译：本文提出了一种利用附加力矩提升协同任务能力的方法。机械臂在物体抓取点施加作用力时，若作用点偏离物体质心，将产生非期望力矩。该非期望力矩可作为附加力矩，用于提升单个机械臂乃至整个协作系统的任务能力。任务能力的任何提升都能直接增强物体搬运与运输能力。协作系统能力的增强还有助于实现物体操作中的最优能力、最优资源分配以及最大容错性。仿真结果显示，与未使用力矩增强能力的情况相比，本方法可使机械臂能力提升5.86%。