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中文摘要：
针对6-PRRS并联机器人控制系统的非线性、耦合等特性，设计了神经网络控制器。此控制器采用分散控制策略，利用复合正交神经网络来消除并联机器人控制系统非线性、耦合的影响，学习系统的不确定信息作为前馈补偿使系统跟踪误差快速收敛，并采用PID作为反馈控制保证系统的稳定性，从而实现6-PRRS并联机器人的快速、稳定轨迹跟踪。该控制器以离散的形式进行设计，结构简单、易于工程实现。
英文摘要：
A neural network controller has been designed to control 6-PRRS parallel robots. This controller eliminates the nonlinearity and coupling of previous controllers by using a distributed control strategy and a compound orthogonal neural network （CONN）. It learns the degree of uncertainty in positional data and uses it as feedforward to compensate for tracking errors. In this way the system converges as quickly as possible. The stability of the system is achieved by a proportional-integrate-derivative （PID） controller in the feedback path, which ensures rapid and steady trajectory tracking of the 6-PRRS parallel robot. The controller is designed in discrete-form, with a simple structure that can be easily applied to other engineering problems.
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