中文摘要：

提出了三自由度平面并联机器人的运动学控制方法，通过逆向运动学求解实现对机器人的轨迹规划；提出完成并联机器人在线监控的2个步骤：首先利用解析法实现并联机器人的正向运动学分析，再综合运用二分法和插值法进行正解的在线计算．还研究和完成了基于PC的模块化机器人控制系统设计，该设计主要包括使用C＋＋语言完成并联机器人运动学控制算法编程和设计基于PMD（Performance Motion Devices）的模块控制器．该控制系统在三自由度模块化平面并联机器人上进行了演示，并将在MATLAB下实现的数值法与C＋＋语言编写的解析法进行了比较，其结果验证了运动学算法和运动控制器的性能。

英文摘要：

Kinematic control of 3-DOF planar parallel manipulators was proposed. To realize online position trajectory planning, the inverse solution of parallel robot was discussed. Two steps were proposed to realize the online monitoring of parallel robot. The first step was using the algorithm of closed solution to analyze parallel robot＇s position trajectory, and the second step was using the combination with bisection method and interpolation method to calculate the forward kinematic solution online. The control system of modular manipu- lators based on PC was also discussed and realized, which included the program of the algorithm of parallel robot＇s kinematic control using C ＋ ＋ language and the design of modular robot＇s controller based on PMD （performance motion devices）. The test of control system was on 3-DOF modular planar parallel manipulators, and the comparison between numerical method under MATLAB and analytical method programmed by C ＋ ＋ language was done. The results of the test and the comparison demonstrate the effectiveness of kinematic algorithm and motion controllers.