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基于最优控制模拟思想提出了柔性机械臂的两点边值逆动力学方法．应用柔性机械臂的两种动力学模型可实现机械臂的点点位置运动或轨迹追踪，同时显著降低或消除了结构柔性对其精确定位的影响．数值仿真和实验结果同理论分析完全一致
Based on the idea of optimal control simulation, a two-point inverse dynamic method of flexible manipulator is proposed. Two kinds of dynamic models of flexible manipulator can be used to detect point-point position or trajectory of manipulator while significantly reducing or eliminating the influence of structural flexibility on its precise positioning. Numerical simulation and experimental results are consistent with the theoretical analysis