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柔性机器人在受限运动时由于控制对象极其复杂而难以控制．为了解决受限柔性机器人机械臂难以精确定位问题提出并设计了一种神经网络直接自适应控制器．其控制效果在研制的受限柔性机器人控制实验平台上作了仿真与实验。结果表明该控制器能以较高精度控制受限柔性机器人的机械臂精确定位．本文是深入研究受限柔性机器人控制问题的基础．
Flexible robots are difficult to control due to the extremely complicated objects to be controlled during limited movement. In order to solve the problem that it is difficult to locate the flexible robotic arm of a flexible robot, a neural network direct adaptive controller is proposed and designed. The control effect was simulated and experimentally developed on a controlled flexible robot control platform. The results show that this controller can control the precise positioning of the robots of the restricted flexible robot with high accuracy. This article is the basis of further research on the control problem of restricted flexible robots.