SUMMARYIn this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared.

中文翻译：

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一种工业宏微操作的多优先级控制器

总结在这项研究中，针对一种特殊类型的运动冗余机械手提出并评估了一种控制算法。该机械手由宏观和微观两种机构组成，具有不同的加速度和工作空间特性。相对于传统机械手，设计了一种控制算法以最小化任务完成持续时间和整体执行器工作量。利用虚动力学引入宏微机械臂通用框架多优先级控制器，引入零空间投影以实现次要任务。所提出的控制器在基于先前构建的用于平面激光切割的宏微机械手的仿真模型上进行评估。对任务完成持续时间和总执行力进行了调查，并对结果进行了比较。