Development of 4 DOF planar macro-micro manipulators system

A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as a macro-micro manipulator system. This paper presents a macro-micro manipulator system, which uses laser in endpoint operating and can be applied to trajectory tracking. This system has low inertia and wide bandwidth. A multi-stage rotational transformer with thirty pairs of poles as joint angle measurement of macro manipulator and a kind of errors correction strategy is given, which can reduce the measurement errors caused by excitation power. High accuracy and low inertia capacitive position sensor is used for joint angle sensing of micro manipulator. Joint controllers are independent, high computation ability is guaranteed by parallel process network. Fast and reliable data exchange between parallel process network and joint controller is implemented by using peripheral high speed bus chip. Experiments on continuous trajectory and Chinese character tracking showed the effectiveness of the macro-micro manipulator control system.