...网 关键词： 柔性臂机器人；滑模控制；自组织控制；离散事件动态系统；自动机 [gap=940]Key words : flexible link manipulators; sliding mode control; self- organizing control; discrete event dynamic systems..
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There inevitably exist the parametric uncertainty and unstructured uncertainty due to the complex dynamics of flexible-link manipulators.
由于柔性机械手具有复杂的动力学模型，因此不可避免存在参数不确定性和未建模动态。
The model of a spatial flexible rotor beam element is presented, and the dynamic equations of spatial manipulators considering joint and link flexibility is derived.
提出了空间柔性转子梁单元模型，建立了考虑关节及杆柔性的空间机器人动力学方程。
The optimal results show the significant influence of initial configuration on dynamics of redundant flexible link and joint robot manipulators.
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。
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