Manipulator system for the coordinated control of at least two manipulators

The invention relates to a manipulator system for the coordinated control of at least two manipulators, which comprises a main computer that is set up to execute sequence control. Furthermore, the manipulator system comprises at least two multiaxial manipulators, wherein each manipulator is assigned a manipulator controller and preferably at least one axis controller, which manipulator controllers are spatially separated from the main computer and are set up in a separate housing. Preferably, each manipulator comprises converters for actuating the actuators of the axes of the manipulator, wherein the converter assigned to an actuator is arranged in the vicinity of the actuator such that the convertor can be carried along when the manipulator moves. 本发明涉及种用于协调地控制至少两个操纵器的操纵器系统，该操纵器系统包括主计算机，该主计算机被设计用于执行流程控制。该操纵器系统还包括至少两个多轴的操纵器，其中，每个操纵器配有操纵器控制器和优选至少个轴控制器，所述操纵器控制器与主计算机在空间上分开地分别设置在自己的壳体中。优选地，每个操纵器包括用于操控操纵器的轴的致动器的变流器，其中，配属于致动器的变流器设置在致动器的附近，使得变流器能够在操纵器运动时随动。