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提出了挠性机器人逆动力学问题的一般模型，并通过对其实施线性化，得到了线性解耦的由运动条件方程和动力条件方程联立的逆动力学基本方程。同时，利用逆动力学基本方程的特点给出了逆问题的显式模型，并将该法用于平面ｎ杆弹性手臂建模。最后就三连杆弹性手臂进行了仿真，验证了本方法的有效性。
A general model of the inverse kinematics of flexible robots is presented. By linearizing the equations, a linearly decoupled basic equation of inverse kinematics, which is modeled by equations of motion and equations of dynamic conditions, is obtained. At the same time, an explicit model of the inverse problem is given by using the characteristics of inverse kinematics basic equations. The method is applied to the planar n-bar elastic arm modeling. Finally, the simulation of the three-link elastic arm proves the effectiveness of this method.