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提出了利用最优初始位形以减轻具有柔性杆和关节的冗余度机器人变形振动的新方法。优化结果表明，在规划机器人的运动时，初始位形的优劣对柔性机器人的动力学性能有很大影响。
A new method to reduce the deformation vibration of robots with flexible rods and joints by using the optimal initial configuration is proposed. The optimization results show that the initial shape of the robot has great influence on the dynamic performance of the flexible robot when planning the robot’s motion.