MACRO/MICRO MANIPULATOR SYSTEM:CONCEPT,TRENDS,CONTROL AND RESEARCH PROJECTS

If asmall manipulator is attached at the tip of a large manipulat or,a system is formed,and thiskind of systemcan be regarded as a Macro/Micro manipulator system.The Macro/Micro system can reducethe effectiveinertia and provide high bandwidth.This paper presents the concept,research trend and control strategy of Macro/Micro manipulator system.Our ideas on the research of this system are given.