| 摘要 |
PROBLEM TO BE SOLVED: To provide a cooperation action control method by plural manipulators, which prevents a work from being subjected to excessive force in response to the scatter of the size of each work and the like. SOLUTION: First, a work is held by paired manipulators (S12), respective motors at the master side are actuated one by one so as to allow force to be applied to the work (S16), the receiving reaction of a corresponding motor at the slave side is measured, and the fluctuation A of the current value of the motor and the fluctuation B of the value of an encoder, are stored in a memory as time functions A(t) and B(t) (S18, S20). The delay in response and the delay in hysteresis of the current value of each motor and the delay in response of the value of the encorder, are computed based on these time functions A(t) and B(t) (S26). An optimum position free from excessive force when the work is held, is computed based on these delays in time (S28), and the respective motors are so actuated that the aforesaid optimum position can thereby be obtained (S30).
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