Strategy for Control of a Hybrid Macro-micro Robot with a 5-link Closed Structure – an Inverse Problem of Kinematics

The combination of robots for macro and micro operations is necessary for performing a large number of technological operations where macro motions precede finishing high accuracy motions. The basic difference between the two manipulation systems (MS) is the type of actuations used. The present study offers algorithms for solving inverse problem of kinematics (IPK) related to a macro MS without linearizations and IPK for a micro MS which is redundant, having two extra degrees of freedom. Conditions for unidirectionality of the basic links of a micro MS are assumed. A virtual model of a robotized system is developed and presented on the basis of the algorithms designed for solving the IPK. The robotized technical solution can be useful for cell manipulations where high precision and high speed of cell injection are required.