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本文研究受限柔性连杆机器人的力／位置控制问题．首先导出受限柔性机器人的动力学模型，然后借助于微分几何理论将动力学模型转化为仿射非线性形式，再使用非线性反馈使系统线性化，最后对线性子系统设计变结构补偿器，使控制方法具有较高的精度和强鲁棒性．
This paper studies the force / position control problem of a constrained flexible link robot. Firstly, the dynamic model of a constrained flexible robot is derived. Then, the dynamic model is transformed into an affine nonlinear form by means of differential geometry theory. Then nonlinear feedback is used to linearize the system. Finally, a variable structure compensator is designed for the linear subsystem. So that the control method has high accuracy and robustness.