Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
对宏微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿。
A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as macro micro manipulator system.
一小机械手附在一大机械手末端构成的系统称为宏微机器人系统。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
宏微机器人轨迹规划离线进行，通过任务放大的方法分解宏微机器人运动学冗余。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
It is significant for the architecture design and the selection of the actuators to research statics of a micro-motion manipulator.
微操作机器人的静力分析对其结构设计和驱动器的选择有重要意义。
These results can be used in kinematic design of the 3-PRS Micro Manipulator.
相关的分析结果可应用于3 -PRS微操作器的运动学设计。
The noumenon of dual-fingered jogging-manipulator was designed on the basis of micro-robot of parallel mechanism with its working plate fitted with acicular fingers.
设计的双指微动操作手的本体是基于并联机构的微机器人，其工作盘上装有针状手指。
The noumenon of dual-fingered jogging-manipulator was designed on the basis of micro-robot of parallel mechanism with its working plate fitted with acicular fingers.
设计的双指微动操作手的本体是基于并联机构的微机器人，其工作盘上装有针状手指。
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