提出基函数叠加与粒子群优化(PSO)相结合的振动抑制轨迹规划方法.首先推导了各关节变量与模态坐标的关系,采用正弦-梯形函数作为基函数构造各关节的角速度,其中基函数的系数和幅值为待定参数;然后将末端振动最小化轨迹规划转换为待定参数的优化问题,并采用PSO算法获得待定参数的最优值;最后以双杆刚柔混合机械臂为例开展仿真研究.仿真结果表明,所提出的方法大大减小了机械臂末端的残留振动. A vibration suppression trajectory planning method based on particle swarm optimization (PSO) and superposition of basis functions (PSO) is proposed.Firstly, the relationship between the joint variables and modal coordinates is deduced, and the angular velocity of each joint is constructed by using the sine-trapezoid function as the basis function Then the PSO algorithm is used to get the optimal value of the parameters to be determined. Finally, the simulation of the rigid-flexible double-arm hybrid arm is taken as an example The simulation results show that the proposed method greatly reduces the residual vibration at the end of the manipulator.