Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation

doi:10.3969/j.issn.1000-8152.2001.01.003

Home>Articles>Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation

DOI: 10.3969/j.issn.1000-8152.2001.01.003

Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation

Abstract：A small manipulator is attached at the tip of a largemanipulator, this kind of system can be regarded as macro-micro manipulator system. This paper presents a kind of novel control strategy of continuous trajectory tracking of macro-micro manipulator system. Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space. Trajectory planning is completed off-line and the kinematic redundancy of macro-micro manipulator system is resolved by task augment. Simulation and experiment showed the efficiency of proposed method.

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Publication Date：2001-01-01

Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)

Pages：5( 12-16 )

CONTROL THEDRY AND APPLICATIONS

PKUISTICEI

ISSN：1000-8152

Year, Vol.(Issue)：2001,18(1)