Patent ID: 8560123

Claim:
A method of controlling cooperative work of a robot, the method comprising: inputting a target position; calculating absolute coordinate positions of end effectors of the robot, respectively provided at a plurality of manipulators of the robot to perform the work; determining whether the absolute coordinate positions of the end effectors reach the target position by comparing the calculated absolute coordinate positions with the input target position; and if it is determined that the absolute coordinate positions of the end effectors do not reach the target position, calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating a relative Jacobian of one of the end effectors opposite to another one of the end effectors; calculating joint torques of the plurality of manipulators using the target position, the calculated relative coordinate position and the calculated relative Jacobian; and controlling the cooperative work of the plurality of manipulators according to an order of the calculated joint torques; wherein the calculating of the relative Jacobian comprises acquiring an impedance control input using a Jacobian matrix according to the relative coordinate position.