本文针对空间柔性机械臂的非线性动力学模型，在最优控制理论的基础上，运用Ｇｉｌ法和打靶法相结合，得到大质量负载情况下柔性机械臂的最优驱动力矩．以单柔性机械臂为例进行了动力学仿真，仿真效果好，结果证明方法正确可靠 In this paper, based on the optimal control theory, the optimal driving torque of flexible manipulator under large mass loads is obtained by combining the Gil method with the shooting method in view of the nonlinear dynamics model of the space flexible manipulator. Taking a single flexible manipulator as an example, the dynamic simulation is carried out, and the simulation result is good. The result proves that the method is correct and reliable