中文摘要：

基于旋量理论和方法,通过仿真给出了微型多关节整体柔性机器人操作臂的动力学模型推导及适于实现的逆动力学方程,并分析了终端执行器抓持物体平衡被破坏的控制问题.仿真结果表明,该算法稳定性强、反应速度快,简化了传统牛顿-欧拉等方法的复杂计算过程,终端执行器的位置随负载变化误差较小.

英文摘要：

This paper introduces the dynamics modeling and emulating of flexible multi-arthrosis manipulators on the basis of screw theory,gets a inverse dynamic equation,and analyzes the control problem that the balance is broken while the terminal performer grasps a load.Through emulating,it can be proved that this algorithm has more strong stability and reflecting velocity and simplifies the complex computing processes by Newton-Euler method and others.