Abstract: Flexible-macro rigid-micro manipulator is a special structure robot system,which is suitable to perform large motion with precise operation task. Dynamics modeling,macromicro redundant space partitioning and motion error compensating method was studied for a planar manipulator system containing two flexible-macro manipulators and three rigid-micro manipulators. Detailed simulation results are given to verify the possibility of space welding using flexible-macro rigid-micro manipulator.