Manipulator system, manipulator system control method, and manipulator system control device

A control method for controlling a manipulator system, the manipulator system comprising a manipulator and a driving device comprising least one actuator, the manipulator is detachably connected to the driving device and the driving device electrically drives the manipulator, the control method comprising:

• performing a first step of confirming that the driving device operates normally according to electric power on the basis of an output of a first sensor;
• and
• performing a second step of confirming that the manipulator is connected to the driving device on the basis of an output of a second sensor, wherein
• the first step includes checking whether the first sensor is normal, and
• the second step includes checking whether the second sensor is normal on the basis of the output of the first sensor that has been confirmed to be normal in the first step and the output of the second sensor.

A control device comprising:

• a controller comprising hardware, the controller is configured to control a manipulator system, the manipulator system comprising a manipulator and a driving device comprising at least one actuator, the manipulator is detachably connected to the driving device and the driving device electrically drives the manipulator, wherein
• the controller is configured to perform a first step of confirming that the driving device operates normally according to electric power on the basis of an output of a first sensor, and a second step of confirming that the manipulator is connected to the driving device on the basis of an output of a second sensor,
• the first step includes checking whether the first sensor is normal, and
• the second step includes checking whether the second sensor is normal on the basis of the output of the first sensor that has been confirmed to be normal in the first step and the output of the second sensor.