:推导了单连杆柔性机械臂的动力学模型 ,研究其末端位置的模型参考自适应控制。在推导动力学模型时 ,使用刚性模态和多个弹性模态使单连杆柔性机械臂等效为一个多自由度的机械多体动力系统。在研究末端位置的弹性振动抑制方法时 ,使用了振动主动控制方法 ,用线性化模型的最优状态反馈方法构造参考模型、Lyapunov稳定性理论推导了模型状态跟踪的自适应控制率 ,用 LQR方法推导末端位置调节控制率。用模型状态跟踪和末端位置跟踪两级跟踪实现了一种单连杆柔性机械臂末端位置的自适应控制。仿真结果表明 ,该方法渐进稳定、定位准确 : The dynamics model of single link flexible manipulator is deduced and the model reference adaptive control of the end position is studied. In deriving the kinematic model, using a rigid mode and multiple modes of elasticity makes a single-link flexible manipulator equivalent to a multi-degree-of-freedom mechanical multibody system. In the study of the elastic vibration suppression method at the end position, the active vibration control method is used, the reference model is constructed by the optimal state feedback method of the linearized model, the adaptive control rate of the model state tracking is derived by the Lyapunov stability theory, and the LQR method Derive end position adjustment control rate. The model state tracking and the end position tracking two-stage tracking realize the adaptive control of the single-link flexible manipulator end position. Simulation results show that the method is asymptotic and stable and accurate