Path error compensation of a two-link flexible robot arm based on integrated laser transducers

A macro-micro robot system is a conventional large robot (macro robot) plus a small robot (micro robot) mounted at the end point of the large robot. The macro robot carries the micro robot to the vicinity of the task, whilst the micro robot achieves the precise manipulation. Such a robot system can provide all the features of both the macro robot and the micro robot. In this investigation a planar two-link flexible robot is used as the macro-robot, an integrated laser-PSD transducer for measuring the position of the end-effector, and a micro robot consisting of translational and rotational joints for compensating for the dynamic path errors of the macro flexible robot in real time. Simulation and experimental results are given.