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从柔性机器人协调操作的本质特性出发，巧妙采用机器人与负载的有限元模型，建立了柔性协调机器 人系统的运动学协调约束条件，寻出了系统动力学方程，并成功的给出了两3R柔性机器人协调操作──柔性梁负 载的一组仿真算例．
Based on the essential characteristics of coordinated operation of flexible robots, the kinematic coordination constraints of flexible coordinated robot system are established by using the finite element model of robot and load. The kinetic equations of system are found out and the two 3R flexible Robot Coordinated Operation - A Set of Simulation Examples of Flexible Beam Loads.