The authors build the inverse kinematics model of the flexible macro manipulator system.
建立了悬索柔性机器人系统的逆运动学模型 ；
The control system of macro manipulator prototype has been manufactured. The tracking control experiments are tested.
建立了宏动平台实验样机控制系统，进行了轨迹跟踪控制实验。
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。
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