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在刚性双连杆机械臂控制方案的基础上，提出了柔性双连杆机械臂的轨迹跟踪和振动抑制的脉冲力矩控制方案，针对竖直平面双连杆柔性机械臂进行了数值仿真和实验研究。
Based on the control scheme of rigid two-link manipulator, the trajectory tracking of flexible two-link manipulator and the pulse torque control scheme of vibration suppression are proposed. Numerical simulations and experimental studies are performed on the vertical planar two-link flexible manipulator .