In the scenarios of high-speed operation, the bad elastic vibrations of lightweight manipulators readily arise, thus affect the overall motion of system even induce motion instability, which is a critical issue needing to be tackled appropriately. This paper concentrates on the efficient dynamic modeling and tracking/vibration integrated control for a lightweight parallel manipulator (LWPM) including servo motor dynamics. Firstly, a systematic methodology is proposed to establish the rigid-flexible coupling dynamics model (RFDM) of mechanical system possessing a modular feature, which can reduce the modeling effort. To alleviate computational burden, the RFDM is elaborately reduced to a concise model characterized by fewer generalized coordinates of system. Further, by integrating the simplified RFDM with the dynamics model of permanent magnet synchronous motor (PMSM), the electromechanical coupling dynamics model (ECDM) of system is formulated. On this basis, the ECDM is decoupled into two reduced-order subsystems by virtue of singular perturbation theory, and following that, a novel hybrid control strategy is proposed, in which a kind of task space-based proportional-integral robust sliding mode controller is designed for the slow subsystem while an quadratic optimal controller is designed for the fast subsystem. Ultimately, two simulation experiments are implemented to comprehensively investigate the dynamic performance of the presented hybrid control in comparison with the traditional joint-based PD feedback control. The results substantiate that both the excellent trajectory tracking precision of end-effector and vibration suppression can be achieved efficiently by the hybrid control, which lays a sound foundation for the application of the proposed approach in practice.

在高速运行的情况下，轻型机械手容易产生不良的弹性振动，从而影响系统的整体运动，甚至引起运动不稳定，这是需要适当解决的关键问题。本文着重于对包括伺服电机动力学在内的轻型并联机械手（LWPM）进行有效的动力学建模和跟踪/振动集成控制。首先，提出了一种系统的方法来建立具有模块化特征的机械系统的刚柔耦合动力学模型（RFDM），从而可以减少建模工作。为了减轻计算负担，将RFDM精心简化为以较少的系统通用坐标为特征的简洁模型。进一步，通过将简化的RFDM与永磁同步电动机（PMSM）动力学模型集成在一起，建立了系统的机电耦合动力学模型（ECDM）。在此基础上，利用奇异摄动理论将ECDM分解为两个降阶子系统，然后提出了一种新颖的混合控制策略，该方法是一种基于任务空间的比例积分鲁棒滑模控制器。设计用于慢速子系统，而二次优化控制器则设计用于快速子系统。最终，进行了两个仿真实验，以与传统的基于联合的局部放电反馈控制相比，全面研究所提出的混合控制的动态性能。