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。
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。
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