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中文摘要：
索牵引并联机器人中的柔索在做大范围运动的同时会伴随有低频振动。建立了此类柔索的动力学方程，得出柔索张力与索长之间的关系，在此基础上建立了索牵引并联机器人系统的较精确动力学模型。然后采用反馈线性化方法设计了轨迹跟踪的PID控制器，同时引入虚拟采样技术来弥补测量设备采样率较低的缺点。数值算例证明了所提方法的有效性。
英文摘要：
The cable of cable-driven manipulators undergoes global motion combination with local low-frequency vibration. The dynamic model is proposed for the cable, which relates the tension and the cable length. Then the relatively accurate dynamic model of the cable-driven manipulator is deduced. A PID controller is presented in tracking control based on the feedback linearization and a virtual sampling method is introduced to overcome the disadvantage due to low sampling rate of measurement equipment. Numerical examples validate the methods presented.
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