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：宏微操作器将具有大工作空间（如工业机器人）的宏操作器与轻量级、高带宽的微操作器相结合。这能在保持机器人广阔工作空间的同时，实现高度动态的交互控制。传统上，位置控制被分配给宏操作器，而微操作器则处理与环境的交互，这限制了可实现的交互控制带宽。为解决此问题，我们提出了一种新颖的控制架构，将宏操作器纳入主动交互控制中。与基于领导者-跟随者方法的最先进架构相比，这使控制带宽提高了2.1倍，与传统的基于机器人的力控制相比提高了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易于适应硬件变化。我们通过在不同实验（如与物体碰撞、跟随力轨迹和工业装配任务）中与其他控制方案进行比较，验证了我们的方法。