基于宏-微机器人的不连续轨线的跟踪

针对宏-微机器人跟踪不连续轨线，本文采用轨线分割的方法．轨线分割的 结果，宏机械手的期望轨迹为一条连续轨线，轨线中的不连续部分将由微机械手跟踪；同时 ，宏-微机器人这一冗余系统变为两个非冗余系统，按照两个非冗余系统分别进行轨迹规划 ；微机械手除了完成分割的任务外，对宏机械手的轨迹误差在线补偿；4自由度宏-微机器 人仿真和实验证明了本文方法的有效性．

DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO-MICRO MANIPULATOR SYSTEM

Referring to the uncontinuous trajectory tracking of macro micro manipulator systems, this paper presents a kind of strategy of task division. As this result, the desired trajectory of macro manipulator is continuous and the discontinuous parts are tracked by Micro manipulator; the redundant system can be considered as two non redundant systems; trajectory planning is completed independently. By the fast motion of Micro manipulator, the trajectory errors of macro manipulator are compensated on line. Effectiveness of this strategy is demonstrated by the simulation and experiments carried out on our four degree macro micro manipualtor systems.