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针对已建立的一类平面双连杆受限柔性机器人臂动力学模型，通过引入变量代换和一系列模型简化运算，得到一种非常简单的模型形式。基于此简化模型，提出一种混合位置／力控制方案，以同时控制机器人臂终端执行器的位置和接触力。计算机仿真结果表明这种控制方案是可行且有效的。
Aiming at a type of planar two-link constrained flexible robot arm dynamics model, a very simple model form is obtained by introducing variable substitution and simplifying a series of model operations. Based on this simplified model, a hybrid position / force control scheme is proposed to simultaneously control the position and contact force of the robotic arm end effector. Computer simulation results show that this control scheme is feasible and effective.