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控制理论与应用 2001
Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation
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Abstract:
A small manipulator is attached at the tip of a large manipulator, 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.
