A motion assignment strategy based on macro-micro robotic system for enhancement of kinematic performance

In this paper, a motion assignment method based on a macro-micro robotic polishing system is proposed to enhance kinematic performance. Combined with workspace analysis and trajectory constraints of the micro, a search set is obtained for motion assignment. The optimal solution will be generated by traversing the search set. Finally, a simulation based on polishing tasks is performed and the effectiveness (about 25% enhancement) and stability of the proposed strategy is demonstrated.