Many different control procedures and task execution strategies have been developed for multiple robots cooperation. Most of them are centralized and hence become very complex with increase in number of robots or their complexity. For this reason, the distributed control approach is found very attractive and the event-based control has enhanced its effectiveness. However, they demand the robots to be autonomous in all respects, and hence have found their applications for autonomous mobile robots or manipulator arms with abundant sensors and actuators. This paper, in contrast, has used these control approaches for a immobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive and with minimal sensory informations. Computer simulations show that it is also practicable to execute these schemes for an under-Actuated system.