【摘要】 从理论上分析了利用冗余度机器人的“自运动”克服其结构柔性引起的机器人臂末端振动的可能性及实际应用的方法，仿真结果证明了可行性．更多还原

【Abstract】 Analysised the possibility of using the "self action" of redundant robot to reducing the vibration of the end point of robot arm which results from the elastic of the end link and end joint of robot arm, and gives the method of using it in practice. Simulation results verifies that the method given in this paper is successful.更多还原