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在柔性机械手的控制中，加速度反馈的方法是一种消除末端振动的有效而简便途径．然而，目前对其有效性尚无严格的理论证明和分析．本文将通过非约束模态分析方法对单柔性臂机械手的动力学方程进行分析，以此为基础对加速度反馈的理论和实现进行研究和讨论，得到了一些重要的结论．
In the control of flexible manipulators, the method of acceleration feedback is an effective and simple way to eliminate the end vibration. However, there is currently no rigorous theoretical proof and analysis of its effectiveness. In this paper, the dynamics equations of a single flexible manipulator are analyzed by non-constrained modal analysis. Based on this, the theory and implementation of acceleration feedback are studied and discussed, and some important conclusions are obtained.