Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly dynamic interaction control while preserving the wide workspace of the robot. Traditionally, position control is assigned to the macro manipulator, while the micro manipulator handles the interaction with the environment, limiting the achievable interaction control bandwidth. To solve this, we propose a novel control architecture that incorporates the macro manipulator into the active interaction control. This leads to a increase in control bandwidth by a factor of 2.1 compared to the state of the art architecture, based on the leader-follower approach and factor 12.5 compared to traditional robot-based force control. Further we propose surrogate models for a more efficient controller design and easy adaptation to hardware changes. We validate our approach by comparing it against the other control schemes in different experiments, like collision with an object, following a force trajectory and industrial assembly tasks.

翻译：宏微操作器结合了具有大工作空间的宏操作器（如工业机器人）与轻量级、高带宽的微操作器。这使得在保持机器人广域工作空间的同时，能够实现高动态的交互控制。传统方法将位置控制分配给宏操作器，而微操作器负责与环境进行交互，这限制了可实现的交互控制带宽。为解决此问题，我们提出了一种新型控制架构，将宏操作器纳入主动交互控制中。与基于主从方式的现有最优架构相比，该架构将控制带宽提升了2.1倍；与传统基于力控制的机器人相比，则提升了12.5倍。此外，我们提出了替代模型，以实现更高效的控制器设计并轻松适应硬件变化。我们通过不同实验（如与物体碰撞、跟踪力轨迹以及工业装配任务）将所提方法与其他控制方案进行对比验证。