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中文摘要：
考虑冗余的平行操纵者的特殊特征，与杂物上的强调--在手臂之中的结构，相对小的工作区和强壮的联合关系的 ble ，同步控制策略在前馈控制在这 paper.Since 被介绍，惯性并且 coriolis 矩阵根据相对小的工作区是设计常数，在飞机的 endeffector 的位置测量是 ignored.Synchronization 错误并且联合错误介绍
英文摘要：
Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, the relatively small workspace and the strong coupling relationship among arms, a synchronization control strategy is presented in this paper. Since in the feedforward, the inertial and the coriolis matrix are designed constant according to the relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms can be reduced, and the synchronization performance among axes can be improved. The stability of the controllers was proved by Lyapunov method. Finally, experimental results show the feasibility of the method.
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