Task division and tracking based on macro-micro manipulators system for discontinuous trajectory

Ibis paper presents a kind of strategy of task division to process the discontinuous trajectory tracking. Using cubic spline with string parameter to fit the discontinuous trajectory result in: (a) the desired trajectory for macro manipulator is continuous, of which, the discontinuous parts will be tracked by the micro manipulator; and (b) macro-micro manipulator - the redundant system can be regarded as two non-redundant sub-systems. In trajectory planning, a computing algorithm for maximum velocity and maximum acceleration are given based upon trapezoidal velocity profile and torque constraints. Besides tracking the divided trajectory, micro manipulator compensates the trajectory errors caused by macro manipulator. Simulations and experiments of discontinuous trajectory tracking verify the effectiveness of our strategy.