| In this dissertation, developing situation on robot and parallel one is introduced at first, basic theory of differrential geometry decoupling control followed, including basic concept, basic theorems, basic reasons and several propositons and conclusions in the control theory. Then, we descripts basic terms and concepts usually used in robot science, on the base of which, the Lagrange dynamics rmjdel of 6-{XF parallel robot is developed and transfered into state-space one. Finally, we research the state-space model through applying the nonlinear state-feedback decoupling approach to the dynamic control of 6-fXJF parallel robot system, getting the nonlinear state-feedback decoupling control law according to differrential geometry control theory and summing up dynamic nonlinear decoupling arithmetic of parallel robot. In order to stablize the nonlinear decoupling control system of the parallel robot, an assuaging control law is developed further so that 6桪OF parallel robot close-loop system is not only decoupled but also stably decoupled. As taking into account application and robustness of the stably decoupled control system, we design a MRAC adaptive controller which can achieve our aims of both tracking locus and enhancing system robustness. To exam validity of theoretic develop- ment, as in chapter 4, a great number of computer simulation experiments are taken on the dynamic stably decoupled control system of 6桰XJF parallel robot by simulative programming. The simulative result shows that the developaent of nonlinear decoupling control system of 6-DOF parallel robot designed in this thesis is correct and reasonable theoretically and has made the robot system entirely stablized and decoupled in theory. In addition, locus-tracking is also simulated on the decoupled robot system through programming and the result also shows that the decoupled system of &-DCF parallel robot has very good tracking ability. Programming codes with necessary explanation are given in the appendix.
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