Abstract
Abstract. The optimal control strategy is introduced to improve the motion accuracy of planar 3-DOF parallel mechanism. The optimal control of error performance of mechanism is achieved by structuring and quantizing the quadratic form index of the error performance, and taking into account both the system response and energy control in state space, so we study the problem which can be boil down to solve two-point boundary value problem of differential equation. The simulation results show that the actual motion of mechanism keep the better tracking accuracy with the global motion while dynamics parameters is changing, and the controller is ease to accomplishment in the industrial due to the simply structure and the stable change of control energy.
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