针对宏 -微机器人跟踪不连续轨线 ,本文采用轨线分割的方法 .轨线分割的结果 ,宏机械手的期望轨迹为一条连续轨线 ,轨线中的不连续部分将由微机械手跟踪 ;同时 ,宏 -微机器人这一冗余系统变为两个非冗余系统 ,按照两个非冗余系统分别进行轨迹规划 ;微机械手除了完成分割的任务外 ,对宏机械手的轨迹误差在线补偿 ;4自由度宏 -微机器人仿真和实验证明了本文方法的有效性 In order to trace the discontinuous trajectory of macro-micro robot, this paper adopts the method of trajectory segmentation.As a result of trajectory segmentation, the expected trajectory of macro manipulator is a continuous trajectory, and the discontinuous part of trajectory will be tracked by the micromanipulator.At the same time, The macro-micro robot becomes a redundant system of two non-redundant systems, respectively, according to two non-redundant system trajectory planning; micro-robot in addition to completing the task of segmentation, the macro robot trajectory error online compensation; 4 free Degree Macro - Micro Robot Simulation and Experiments Prove the Efficiency of the Method in this Paper