A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators a step of calculating a target position of a joint on the basis of the manipulation signals steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position a step of comparing the maximum distance with a predetermined threshold a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.
