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建立了柔性机器人的动力学模型，并根据实际情况对模型作了相应的假设， 给出了简化的准静态模型． 提出了一种基于神经网络的混合力／ 位置控制方法， 它主要包括两个部分： 辨识网络和学习网络． 仿真结果证明所设计的控制器是可行的
The dynamic model of a flexible robot is established. Based on the actual situation, the model is given corresponding assumptions, and a simplified quasi-static model is given. A hybrid / position control method based on neural network is proposed, which mainly includes two parts: identification network and learning network. Simulation results show that the designed controller is feasible