中文摘要：

提出了一种基于姿态反馈的球面并联机构闭环控制方法,有效地解决了该机构输入与输出之间复杂的3维非线性强耦合映射关系给构建闭环系统带来的问题.同时将球面并联机构应用到机器人眼设计上,制作了类似人眼运动特点、比人眼尺寸略大、具有控制和视频信号接口的仿生眼实物;基于数字信号处理器（DSP）的控制系统实现了逆解和闭环控制算法的实时在线计算.实验结果表明,姿态闭环控制算法有效提高了仿生眼的定位精度.

英文摘要：

An attitude feedback based method for establishing the closed-loop control system of spherical parallel mechanism （SPM）is proposed to circumvent the difficulty caused by the complex,three-dimensional,nonlinear and strongly coupled relationship between the input and output of the mechanism.SPM,then,is employed to the design of bionic eye which emulates the function of human＇s eye but is bigger than it in size,and incorporates the interface of the signal of control and video.In addition,the real-time online calculation of the inverse kinematics and the scheme of the closed-loop control is conducted on DSP（digital signal processor）.Finally,the experimental results substantially confirm that the improved positioning precision of the bionic eye is obtained by introducing the proposed algorithm.