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Abstract

A multiple robot control method in which a spatial region is defined for each of a plurality of robots. The spatial region is defined according to a region which a robot occupies and the spatial region depends on a position and orientation of each robot. The robots are mounted close to each other and may be commanded so as to be operated at the same time. The spatial region for a robot is defined at every unit operation command, and is defined by one or two planes which are parallel to each other in the X-Z plane, and move horizontally in a specified direction (Y-axis direction) for all robots. It is then determined whether a defined spatial region for a first robot crosses a defined spatial region for a second robot. If it is found that the defined spatial regions do not cross each other, the first robot is operated according to an operation command since it is ensured that no interference between robots occurs. If it is found that the spatial regions do cross each other, operation of the first robot is stopped, and the first robot is kept in a waiting state until the spatial region of the first robot moves depending on the operation of the second robot such that the spatial regions no longer cross each other.

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