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针对双连杆柔性机械臂提出了一种非线性轨迹跟踪控制方案。利用输入－输出线性化方法使得关节变量与弹性变量解耦，导出了柔性机械臂的零动力学方程，并证明关节轨迹跟踪控制的稳定性。最后进行的仿真实验表明了本方法的有效性
A nonlinear trajectory tracking control scheme is proposed for two-link flexible manipulator. The input-output linearization method is used to decouple the joint variables from the elastic variables. The zero-dynamics equations of the flexible manipulator are deduced and the stability of the trajectory tracking control is proved. The final simulation shows that the method is effective