Steady hand micromanipulation robot

A robotic system, comprising:

• a support structure;
• first and second cooperative-control robots connected to said support structure;
• and
• a control system adapted to communicate with said first and second cooperative-control robots,
• wherein each of said first and second cooperative-control robots comprises:
• a base component connected to said support structure,
• a mobile platform arranged proximate said base component,
• a translation assembly operatively connected to said base component and said mobile platform and configured to move said mobile platform with translational degrees of freedom substantially without rotation with respect to said base component, and
• a tool assembly connected to said mobile platform,
• wherein said control system is configured to control motion of each said mobile platform in response to forces by a user applied to at least a portion of a corresponding one of said first and second cooperative-control robots,
• wherein each said translation assembly comprises at least three independently operable actuator arms, each connected to a separate position of said mobile platform,
• wherein said translation assembly further comprises at least three linear tracks arranged such that each of said at least three independently operable actuator arms has an end that is constrained to move along a respective one of said at least three linear tracks, and
• wherein, in response to said forces by said user, said control system causes said mobile platform and said tool assembly to move in a smooth manner.