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研究了在垂直平面内双连杆柔性机械臂的轨迹跟踪控制问题。基于假设模态法，导出了双连杆柔性机械臂系统的动力学方程，给出了轨迹跟踪控制的补偿控制方法。设计了以微机为核心的柔性臂系统实验台。最后，通过实验台对提出的控制方法进行了实验研究。
The trajectory tracking control of two-link flexible manipulator in the vertical plane is studied. Based on the hypothetical modal method, the dynamic equations of the two-link flexible manipulator system are derived and the compensation control method of trajectory tracking control is given. Design a flexible arm system test bench with microcomputer as the core. Finally, the control method proposed is experimentally studied through the experimental bench.