Control system and method for controlling one or several manipulators

A control system for controlling movements of at least two manipulators, the control system comprising:

• a main computer module configured to execute programs with instructions for movements of the at least two manipulators, to plan movement paths of the at least two manipulators, and to generate orders for the at least two manipulators based on the movement paths, the main computer module further comprising a power supply configured to supply power to the main computer module;
• at least two drive modules, wherein one of the drive modules is operatively connected to one of the at least two manipulators, each drive module being physically separate from each other and from the main computer module, each drive module being operatively connected to one of the at least two manipulators and to at least one of the main computer module and one of the at least two drive modules to permit each module to communicate with at least one of the main computer module and one of the at least two drive modules, each drive module comprising
• a drive unit that controls motors driving the movements of the manipulator to which the drive unit is operatively connected,
• an interface configured to provide an interface with at least one of the main computer module and one of the at least two drive modules,
• a power supply configured to supply power to the drive module and supply power to the manipulator to which the drive unit is operatively connected, and
• an axis computer configured to provide control signals to the drive unit based on the orders received from the main computer module to control movement of the manipulator to which the drive unit is operatively connected, and
• a communication network operatively connecting the main computer module and the drive modules to permit the main computer module to transmit the orders to the at least two manipulators.