而长期以来，一直困惑自由曲面精加工取得实质性突破的关键问题之一，就是加工工具的运动位姿控制问题。

But for a long time, one of the key questions which puzzled free surface precision machining obtaining substantive breakthrough, is machining tool's movement pose control problems and so on.

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基于此，本文选取6 - DOF并联机器人作为研究对象，对其在曲面加工中的运动位姿控制等相关问题展开了研究。

As such, this article selects the 6-dof parallel robot as the research object to launch the research to its movement pose control and so on.

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本文主要对六自由度摇摆试验台的系统设计、运动学理论、位姿误差及控制方法四方面进行分析和研究。

The major research works completed in this dissertation includes: six free-degree swing platform system design, kinematics theory, pose error analysis and control methods.

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