中文摘要：

以平面2自由度冗余驱动并联机构为研究对象，推导了该对象的动力学模型，提出了基于该机构动力学模型的最优控制器，详细给出了最优控制器的设计过程。对机构在典型的PD控制器以及所提出的最优控制器下的点到点运动控制进行了仿真实验，同时以机构末端执行器的位王误差、速度误差为被控变量，对比分析了它们的控制精度。实验证明，最优控制能够进一步减小机构在运动中的位置误差和速度误差，提高机构运动精度，获得更好的位置、速度跟踪性能。

英文摘要：

Taking the 2 DOF redundantly actuatea planar parallel mechanism as the object of study; the dynamics model of that object was derived. Optimal controller based on the dynamics model of that mechanism has been put forward and the designing process of optimal controller was presented in detail. The simulative test was carried out on the point-to-point movement control for the mechanism under the condition of typical PD controller and the being presented optimal controller, and at the same time taking the positional error, velocity error of the actuator at the end of mechanism as variables being controlled, their controlling accuracy has been comparatively analyzed. The test verified that the optimal control could make further reduction on positional error and velocity error while the mechanism is at moving, and could enhance the movement accuracy of the mechanism so as to obtain better tracing ability on position and velocity.