DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM

Referring to the uncontinuous trajectory tracking of macro-micro manipulator systems, this paper presents a kind of strategy of task division. As this result, the desired trajectory of macro manipulator is continuous and the discontinuous parts are tracked by Micro manipulator;the redundant system can be considered as two non-redundant systems;trajectory planning is completed independently. By the fast motion of Micro manipulator, the trajectory errors of macro manipulator are compensated on-line. Effectiveness of this strategy is demonstrated by the simulation and experiments carried out on our four degree macro-micro manipualtor systems.