A master-slave algorithm for control of micro-macro manipulators along unknown path

Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large manipulator - Macro - and a rigid short manipulator - Micro. There are many cases in which the mathematical description of desired path is unknown. In such cases one of the best solutions would be to use a master-slave algorithm to control the end-effector along the path. However, due to complicated configuration of the arm one need to employe a joystick type master to command the system. A method based on artificial constraint motion is presented which can semi-manually control the system. To this end, operator controls the macro manipulator by a macro-like master close to the desired path while generating tracking error signal by a joystick. A close loop computed-torque like controller which is designed based on constrained motion tries to eliminate the error and track the desired trajectory precisely.