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本文就操作臂的末杆在其运动终点的振动控制问题进行了理论研究。首先建立了末杆的力学模型，并用有限元法建立了该模型的动力学方程；然后建立了振动控制问题的框图，并给出了有关的传递函数和脉冲响应函数的表达式；进而建立了振动抑制问题的最优控制的数学模型；最后就该数学模型提出了一种近似解析方法，并给出了一示例。
In this paper, the control arm of the end of the arm in the end of the vibration control of a theoretical study. Firstly, the mechanical model of the final rod was established and the dynamic equation of the model was established by the finite element method. Then the block diagram of vibration control was established and the expressions of the transfer function and the impulse response function were given. Vibration control problem of the optimal control of the mathematical model; Finally, the mathematical model proposed an approximate analytical method and gives an example.