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本文研究了弹性并联机器人的输入运动规划方法。本方法以机器人平台的输出运动误差为目标，规划机器人的输入运动。数值例结果表明，这种规划方法可以显著降低机器人输出运动误差。
In this paper, we study the input motion planning of flexible parallel robot. The method takes the output motion error of the robot platform as the target and plans the input motion of the robot. Numerical examples show that this method can significantly reduce the robot output error.