Finally,numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking,but also can suppress tip vibration effectively,and has strong robustness to load varying.

• 仿真结果表明,该方法不仅能实现柔性臂轨迹的快速、准确跟踪,有效地抑制弹性振动,并且对负载的变化具有强的鲁棒性。