Aiming at a space redundant robot with the combination of flexibility and rigidity,on the basis of the assumed modes method,Lagrange principle and momentum conservation,ignoring high stretch libration model,adopting Maple software,the dynamic modeling of a free-floating flexibly redundant space robot holding a rigid payload is derived,which can enhance the correctness of modeling.

Neural network is used in this paper to solve the problem of kinematics and inverse kinematics in kinematical control of spatial redundant robots.

Minimizing joint-torques of a flexible redundant manipulator based on vibration suppression is researched.

Then the redundant characteristics of a flexible redundant manipulator s joints motion were studied.

the self-motion states (regular and chaotic) of flexible redundant robots were discussed for the first time.

So, it's meaningful to investigate the motion internality of flexible redundant robot to improve its working performance.

How to improve the kinematic dexterity of flexible redundant manipulators is studied in this paper.

The theory and strategy of vibration control for flexible redundant manipulators are studied by the optimal control theory.

In this thesis, the vibration control and singularity avoidance of highly-redundant flexible robot are studied from the self-motion point of view as follows.