Cooperation carrier system

Patent Granted PROBLEM TO BE SOLVED: To provide cooperative carrying, even if backlash and slip exist in a holding part of a leader and a follower being a connecting part of the leader and an object to be carried, and of the object to be carried and the follower. ; SOLUTION: In this cooperation carrier system, the follower 20 estimates and outputs a track of the leader 10 from a follower estimation error when slip and backlash do not exist in the holding part (a hook 14), and performs an operation to output a track to stop the leader 10 when slip and backlash exist.