提出了一种柔性机械臂点到点运动规划方法。建立了基于旋转代数的运动学模型，将连杆挠度与关节运动解耦。在这个简化的运动学模型中，末端执行器的运动可以被视为三种运动的组合:刚性连杆操纵器的运动、连杆偏转和由于配置变化而引起的连杆偏转变化。末端执行器运动和三个运动之间的关系用三个各自的雅可比矩阵明确表示。 提出了一种实现柔性机械臂点到点运动规划的算法。它包括两个步骤，一个用于关节运动，另一个用于连杆挠度变化。文中还对该方法的计算效率和精度进行了研究。

A METHOD FOR POINT-TO-POINT MOTION PLANNING OF FLEXIBLE MANIPULATORS IS PRESENTED. A KINEMATIC MODEL BASED ON THE ALGEBRA OF ROTATIONS IS DEVELOPED TO DECOUPLE LINK DEFLECTIONS FROM JOINT MOTIONS. WITH THIS SIMPLIFIED KINEMATIC MODEL, THE END-EFFECTOR MOTION CAN BE CONSIDERED AS THE COMBINATION OF THREE MOTIONS: MOTION OF RIGID LINK MANIPULATOR, LINK DEFLECTIONS, AND LINK DEFLECTION VARIATIONS DUE TO CONFIGURATION CHANGES. THE RELATION BETWEEN THE END-EFFECTOR MOTION AND THE THREE MOTIONS IS EXPLICITLY EXPRESSED IN TERMS OF THREE RESPECTIVE JACOBIANS. AN ALGORITHM IS PROPOSED FOR IMPLEMENTING POINT-TO-POINT MOTION PLANNING OF FLEXIBLE MANIPULATORS. IT CONSISTS OF TWO STEPS, ONE FOR JOINT MOTIONS AND THE OTHER FOR LINK DEFLECTION VARIATIONS. THE COMPUTATIONAL EFFICIENCY AND THE ACCURACY OF THE PROPOSED METHOD ARE ALSO INVESTIGATED.