【摘要】 建立了柔性机器人的动力学模型，并根据实际情况对模型作了相应的假设， 给出了简化的准静态模型． 提出了一种基于神经网络的混合力／ 位置控制方法， 它主要包括两个部分： 辨识网络和学习网络． 仿真结果证明所设计的控制器是可行的更多还原

【Abstract】 In this paper, the dynamics model of flexible robot is developed and some assumptions according to the reality are made for the model to get simple quasi_static model. A bybrid force/position control method based on neural network is presented which includes two parts: identification network and learning network. Simulation results confirm that the controller performs remarkably well.更多还原