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.

Abstract: An intrinsic aldose reductase inhibitor is isolated and purified from mammalian cells, such as rat or human kidney cells. The intrinsic aldose reductase inhibitor may be incorporated into pharmaceutical compositions for the treatment of certain conditions related to diabetes.

Abstract: A method of manually feeding robots to ensure an efficient and safe teaching operation for each robot, even when the multiplicity of robots are arranged close to each other. As long as a controller B receives a manual feed command, coordinates representing current positions of feature points Pi and Qj defined on the robots A1 and A2 are sequentially simulated for being updated and stored in the RAM. The distances R between the feature points Pi (i=1 to final value) and feature points Qj (j=1 to final value) are determined sequentially. Each time a smaller distance between the feature points is calculated, the value is updated and stored into the register R min to calculate a shortest distance between the robots A1 and A2. The actual manual feed rate V is increased or decreased in response to the value of the shortest distance R min.