Disclosed are a robot, which performs cooperative work with a plurality of
robot manipulators through impedance control, and a method of controlling
cooperative work of the robot. The method includes calculating absolute
coordinate positions of end effectors, respectively provided at a
plurality of manipulators to perform the work; calculating a relative
coordinate position from the absolute coordinate positions of the end
effectors; calculating joint torques of the plurality of manipulators
using the relative coordinate position; and controlling the cooperative
work of the plurality of manipulators according to the joint torques.