MANIPULATOR SYSTEM AND MANIPULATOR ASSEMBLY/ DISASSEMBLY METHOD AND POSITION/POSTURE DETECTION METHOD OF MANIPULATOR DETACHING FACE

PURPOSE:To offer a manipulator capable of the change of a troubled joint element remotely and the change of the joint arrangement of the manipulator, according to the work content. CONSTITUTION:Manipulators 1, 2 are controlled by a control unit 3, one part of the manipulator composes the other part of the manipulator with detachable joint elements 7, 8 being connected in plural pieces. These joint elements are composed of the joint element 7 having a pitch axis and the joint element 8 having a roll axis. The control unit 3 has the means which checks as to whether or not the assembly manipulator 1 and the manipulator 2 to be assembled are in the positional relation capable of detaching the joint element each other, and the means correcting the dislocation of the connected face of the joint elements 7, 8 at the detaching time, acting so that the manipulator assembles the joint element automatically and can attach it to the manipulator. Also, in order to facilitate this motion, the mechanism easy to be held on the manipulator, the means absorbing the dislocation of the detaching face, a detaching mechanism guide or an installation completing means are owned on the joint elements 7, 8.