柔性机械臂建模理论与控制方法研究综述

针对柔性机械臂进行有效和精确的建模以及对其进行有效的控制一直是国内外学者研 究的重要课题．由于柔性机械臂本身所具有的高度非线性、强耦合和时变的特点，建立精确 的动力学模型成为柔性臂研究的一个重点．而随着系统和控制领域理论和技术的不断发展， 针对柔性机械臂的控制，也形成了许多不同的控制策略．本文从柔性机械臂建模理论和控制 方法两方面，对国内外学者的研究工作分别加以介绍，并对各种方法的优缺点进行分析和比 较，并对今后的研究方向进行了展望．

A ROADMAP OF RESEARCH ON MODELING AND CONTROL STRATEGY FOR FLEXIBLE MANIPULATORS

Modeling and controlling are very important issues for flexible manipulators. Many researchers have put much more efforts on studying the two problems. Due to the properties of high-nonlinear, tight-coupling and time-varying, dynamic modeling accurately is actual focus. Many control strategy for flexible manipulators have been formed with the development of the system and control theory. This paper introduces the very important works by the researchers in this field, and especially compares the advantages with disadvantages in the two aspects of modeling and controlling respectively. At last, this paper proposed the future direction to research on the modeling and controlling for flexible manipulators.