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针对双连杆刚柔性空间机械臂建立了非线性动力学方程，运用基于模型的非线性解耦反馈控制方法，得到刚柔性机械臂部分解耦形式的控制方程。讨论了空间机械臂的轨迹跟踪问题，通过二例数值仿真计算，表明了该方法的有效控制。
The nonlinear dynamics equations are established for rigid-flexible two-link rigid-space manipulators. The nonlinear decoupling feedback control method based on the model is used to obtain the governing equations of the decoupled rigid-flexible manipulators. The trajectory tracking problem of space manipulator is discussed. Numerical simulation results show that the method is effective.