Conventional beam scanning systems employing a microlens array (MLA) suffer from the problem that only discrete diffraction angles can be addressed because of the periodic structure of the MLA. In this paper, an adaptive fiber-optics collimator (AFOC) that continuously adjusts the position of light source (optic fiber output) is used in front of the periodic structure as a moving linear phase shifter to overcome this discrete scanning angle problem. By introducing the AFOC into the beam scanning system employing MLA, a beam scanning system with continuous scanning capability and high resolution is fulfilled. Theoretical simulations and experimental results both demonstrate the continuous high-resolution scanning capacity of the beam scanning system employing both MLA and AFOC. The proposed beam scanning system is expected to find wide applications in space optical communication, optical interconnection, power projection, and coherent beam combining.