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宏-微机器人即一小机械手附在一大机械手的末端构成的机器人系统，这种机器人有减小末端有效惯量、扩充频带的特性．介绍了研制的宏一微机器人，并进行了连续轨迹跟踪方面的实验研究，取得了满意的结果
Macro - Micro robot that is a robot attached to the end of a large robot robot system, this robot has to reduce the end of the effective inertia, extended band characteristics. The macro-micro robot developed and the experimental research on continuous trajectory tracking are introduced, and satisfactory results are obtained