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A control system for macro-mini manipulators is presented. A position transformation from the end-effector reference to joint coordinates is found using kinematic optimization. Decoupling and optimal control is used to coordinate the motion of the macro and micro part. The redundant manipulator will then have the speed of the micro manipulator and the large workspace of the macro manipulator. When optimal control is used, the redundant manipulator may be even faster than the micro manipulator provided that a suitable performance index is used. The performance of the manipulator is optimized over the whole reference, and this will give better results than the purely kinematic instantaneous optimization which is the dominating technique in research literature

Optimal continuous-path control for manipulators with redundant degrees of freedom