I was reading this chapter about robots, and need to some clarify about:

The master robot manipulator executes large motion commands,and the miniature robot executes the precision motion to pick up a workpiece and perform the appropriate assembly tasks.
In one approach,the miniature robot is attached to a mounting plate by a compliant coupling, which allows limited rotation and three-dimensional translation.
Using three location legs with conical tips and a set of springs,the miniature robot can be positioned using a fixturing principle commonly used to locate a part for accurate machining.
Another miniature robot is attached to the master robot wrist by electromagnetic coupling accross an air bearing(layer of compressed air).The precision of this approach is ten times finer than that of the plate-mounted miniature robot and one hundred times finer than that of a typical industrial robot.


regards

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