柔性机械臂的逆动力学

目前对柔性机械臂逆动力学的讨论还处于初级阶段，许多理论和方法还不够成熟。本就几种求解柔性机械臂的逆动力学方法进行了讨论，并分析了各自的特点。同时对单柔性机械臂提出了一种较为简便的求解逆动力学方法，其特点在于它的主程简单，计算量少，并且是精确的。

Inverse Dynamics of Flexible Robotistic Arms

At present, the discussion for inverse dynamics of flexible robotistic manipu- lator is still initial stage, and many its theory and methods aren't perfect yet. This paper discusses its methods of the solution of flexible robotistic arms, and analyses their char- acteristic. A simpler method of evaluation of inverse dynamic is presented here for single flexible robotistic arm. Its characteristic is simple equation, little computation amount, and accurate result.