Based on the analysis of the error of all kinds of flexible joints, a new structure of micro-manipulator, which only with turn joint, was suggestted.
⑦对不同结构柔性铰链的误差进行分析比较，认为全部采用转副的结构是 北京工业大学工学博士学位论文微操作机器人较好的结构形式。 在此基础上提出了两种非传统并联微操作机器人模型。
参考来源 - 双指微动操作器开发与研究·2,447,543篇论文数据，部分数据来源于NoteExpress
以上来源于: WordNet
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。
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