a system of manipulators including several manipulators , namely robots and / or external axes , such as workstations or transport tracks , whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks . the system of manipulators is movable in a first coordinate system . a second coordinate system is defined for each manipulator , so that one part of the manipulator , e . g . its tool center point , stands still in the second coordinate system , which is movable relative to the first coordinate system .