并联机构动力学建模和控制方法分析

并联机构的动力学建模是其实现高速、高精度运动控制的前提条件．根据并联机构特点分析了4种动力学建模方法，即牛顿一欧拉方法、拉格朗日方法、拉格朗日一达朗贝尔方法和微分几何原理．分类阐述了并联机构的不同运动控制策略，其中包括基于运动学模型的控制、基于动力学模型的控制、基于性能的控制和冗余驱动控制．认为完备的动力学建模、动态参数辨识、自适应控制以及多目标优化控制等理论和技术是并联机构控制研究中需要解决的关键性问题．

Analysis of Dynamic Modeling and Control of Parallel Mechanism

Dynamic modeling of parallel mechanism is the precondition for its motion control with high speed and high precision. Four dynamic modeling methods were analyzed, which are Newton-Euler formulation, Lagrangian formulation, Lagrange-D' Alembert principle and differential geometry theory. Several control strategies such as kinematics and dynamic control, performance control and control with redundant actuation were described. Some key problems associated with the control of the PM, which are dynamic modeling, parameter estimation, adaptive control and multi-target optimum control, were concluded.