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本文研究柔性机器人的轨迹跟踪控制问题．通过坐标变换导出以可测关节角为变量的柔性机器人的动态模型，在Deluca等人[1]提出的CTJ控制算法基础上提出一种改进的计算力矩控制算法ICTJ，并从理论上证明了新算法的收敛性．仿真结果表明ICTJ算法比CTJ算法在跟踪精度上有明显的改善．
This paper studies the trajectory tracking control of flexible robots. Based on the CTJ control algorithm proposed by Deluca et al. [1], an improved computational torque control algorithm ICTJ was derived by coordinate transformation derived from the dynamic model of a flexible robot with measurable joint angle as a variable, and theoretically proved that the new Convergence of the algorithm. The simulation results show that the ICTJ algorithm has a better tracking accuracy than the CTJ algorithm.