中文摘要：

以平面2自由度并联机器人为研究对象,推导其运动学模型,在运动学模型的基础上结合欧拉-拉格朗日动力学方程推导其动力学模型,根据得到的动力学模型引入计算力矩解耦控制方法,并证明该方法在理想估计与非理想估计下,对应的李雅普诺夫函数是全局渐进稳定的,从而得到解耦控制率方程,根据控制率方程和机器人的实际结构参数搭建Simulink仿真模型,进行运动控制仿真,仿真方法有：基于传统PD控制器的计算力矩解耦控制仿真方法和基于自适应模糊控制器的计算力矩解耦控制仿真方法,仿真输出机器人跟踪给定运动轨迹的效果图和误差图。仿真结果表明,无论是在理想或非理想状态下,计算力矩解耦控制方法确实可以使控制系统趋于稳定,且跟踪误差小,通过比较可知,基于自适应模糊控制器的计算力矩解耦控制方法的效果更佳。

英文摘要：

A 2-DOF planar parallel robot is studied.The kinematics model is established,and the dynamics model by using Euler-Lagrange formulation is deduced based on it.According to the dynamic model,a computed torque（C-T） decoupling control method is introduced.It is proved that the corresponding Lyapunov function is global asymptotic stable in the ideal and non-ideal estimation with this method.The decoupling control function can be easily got.Associated with the control function and the real parameters of the robot,the Simulink model is established and simulated.The control strategy includes method of C-T decoupling control with traditional PD controller and method of C-T decoupling control with self-adaption controller.The Simulink results indicate that the conclusion of the stability of C-T decoupling control system can be easily found,and the control error is small.The performance of C-T decoupling control with adaption fuzzy controller is better by comparing the output figures.