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The purpose of this research is to propose and to implement the collision avoidance method of two manipulators which can be applied to factory using RT-middleware. In fact most of the studies concerning collision avoidance method of manipulators is hardly applied to the factory because these methods are restricted to specific environment and operations. In this paper, we use RT-middleware that treats each manipulator as a module for improvement of development efficiency of system. Also we developed a management module that can arrange each manipulator module to solve the problem of collision with two manipulators. In addition, we evaluated the module by the simulation, and the effectiveness is displayed. [ABSTRACT FROM PUBLISHER]