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本文以双连杆弹性机械臂为对象，对其动力学特性进行了分析并提出了一种具有自适应性能的模糊控制方案．仿真表明，它具有较高的跟踪精度和较强的实时性、鲁棒性
In this paper, the dynamic characteristics of a two-link elastic manipulator are analyzed, and a fuzzy control scheme with adaptive performance is proposed. Simulation shows that it has high tracking accuracy and strong real-time, robustness