Development of a redundant macro-micro manipulator and contour tasks utilizing its compliant motion

Development of a redundant macro-micro manipulator for compliant motion and its application to contour tasks are discussed. Redundant macro-micro manipulators under an appropriate control scheme could have numerous advantages: suitability to compliant motion using micro manipulators and a big motion range as a result of macro manipulators. However, we have to design these mechanisms carefully so as to get the desired merits of this system, because the performance of the control scheme is affected by the properties of this mechanism. In this report, development of a micro manipulator is presented for a given macro manipulator. The experimental results show that compliant motion of the developed mechanism is useful in contour tasks.