【摘要】 研究一类柔性机器人手臂的镇定。首先将系统描述为适当的Hilbert空间中的发展方程，再利用算子半群理论讨论了系统的稳定性，最后给出一类控制，使系统的弹性振动被抑制，同时保证机械臂工作姿态到位。更多还原

【Abstract】 The paper endeavors at a theoretical study on the smooth operation of a kind of flexible robot arm. The system is first taken as a developing equation in the Hibert space, and the smoothness of the system is discussed applying operators and semi-group theory. A kind of control is then assigned to restain the resilient vibration of the system assuring in the mean time appropriate postures of the mechanical arm throughout its work.更多还原