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本文对多杆柔性关节机械手的轨迹规划问题进行了研究．首先利用逆系统解耦方法把这一有约束非线性规划问题转化为多个子系统的线性规划问题，然后通过子系统线性规划问题的解析最优解构造了多杆柔性关节机械手轨迹规划的次优化解
In this paper, the trajectory planning of multi-rod flexible joint manipulator is studied. First, the constrained nonlinear programming problem is transformed into the linear programming problem of multiple subsystems by means of the inverse system decoupling method. Then, the suboptimal optimization of the trajectory planning of the multi-rod flexible manipulator is constructed by analyzing the optimal solution of the linear programming problem of the subsystems solution