本文研究了柔性机械手的关节ＰＩＤ，应变ＰＤ和端点加速度反馈的的模糊预测组合控制及其实验．与其它方法的实验现象和结果比较，表明这种模糊预测组合控制方法能够控制单杆柔性机械手期望的关节运动，能较好抑制运动过程中的弹性变形和消除端点残余振动 In this paper, fuzzy combination control and experiment of joint PID, strain PD and endpoint acceleration feedback of flexible manipulator are studied. Compared with the experimental results and other methods, it shows that this fuzzy predictive combination control method can control the desired joint motion of the single-pole flexible manipulator, and can restrain the elastic deformation during the movement and eliminate the residual vibration