The kinematics equation of the mechanical arm was obtained. The relationship between the joint torque of the micromanipulator and the end force of the macro manipulator was obtained. On the basis of the elastic deformation and vibration of the end of the flexible arm, the PD control principle is used to make the torque required for the micro manipulator joint.

Filename	Size	Update
mm_y.tab	8945	2015-03-26

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