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。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
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。
Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
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。
A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as macro micro manipulator system.
应用推荐