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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。
Research on the Stabilization of a Flexible Robot Arm. Firstly, the system is described as an appropriate developmental equation in Hilbert space, and then the stability of the system is discussed by the operator semigroup theory. Finally, a kind of control is given to make the system’s elastic vibration suppressed and at the same time ensure that the working posture of the manipulator is in place .