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柔性机械手的模态辨识是分析柔性机械手动力学与控制问题中的难点，目前有关文献的工作还不够深入，没有提出较为简单又可方便实时辨识的方法。本文提出了一种简单而有效辨识柔性机械手摸态的方法，在理论上根据哈密顿原理和滤波理论说明了该方法的正确性和可行性。
The modal identification of flexible manipulator is a difficult point in the analysis of flexible manipulator dynamics and control problems. At present, the work of the relevant literature is still not deep enough and no simple and convenient method for real-time identification is proposed. This paper presents a simple and effective method to identify the flexible manipulator’s touch state. The theorem shows the correctness and feasibility of the method based on Hamilton principle and filter theory.