Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large macro manipulator and a rigid short micro manipulator. There are many cases in which the mathematical description of desired path is unknown. In such cases one of the best solutions would be to use a master-slave algorithm to control the end-effector along the path and due to complicated configuration of system, it is more suitable to use a joystick type master to command the system. To this end a control strategy, a navigation algorithm and an online redundancy resolution method is proposed. The control strategy which is based on artificial constraint motion is supposed to moves end-effector according to user command, independent of macro manipulator motion and vibrations. Meanwhile, an on-line redundancy resolution algorithm determines macro manipulator motion to keep its tip close to the path. Three different navigation algorithms are proposed to move end-effector on desired trajectory. Performance of proposed control and navigation method is shown via the simulation and experiments. Key Words: Micro-Macro manipulator, Unknown trajectories, Master-Slave method, Navigation.
