A new method of trajectory planning and vibration suppression for the flexible manipulator based on inverse kinematics analysis and particle swarm optimization ( PSO) algorithm in Cartesian space was proposed in this paper.Natural coordinate formulation ( NCF) and absolute nodal coordi-nate formulation ( ANCF ) were employed to model flexible joints and flexible links respectively based on dynamics analysis.In the point-to-point and rest-to-rest planning movement of the endpoint of space manipulator in the Cartesian space, the fifth-polynomial function was used to discrete the planning trajectory, and then the inverse kinematics was solved which resulted in joint trajectories including redundant parameters in the joint space.Using the PSO algorithm, the problem of minimi-zing the residual vibration at the endpoint of the space manipulator was converted into an optimiza-tion problem of the redundant parameters.The flexible manipulator with three degrees of freedom was modeled to carry out the simulation research.The simulation results showed that the proposed planning method had high convergence speed, thus could save the computing time greatly; Space manipulator could achieve predetermined trajectory planning and effectively suppress the residual vi-bration of the endpoint.%针对空间柔性机械臂的末端残余振动抑制问题，提出了一种基于逆运动学分析和粒子群优化算法的柔性机械臂笛卡尔空间轨迹规划和振动抑制的新方法。采用自然坐标法和绝对节点坐标法分别对柔性关节、柔性臂杆进行动力学建模，最终得到全面考虑柔性特性的柔性机械臂动力学模型；针对机械臂末端笛卡尔空间“点到点”和“静止到静止”的规划运动，采用五次多项式函数对末端轨迹进行离散规划，并通过逆运动学理论分析求解得到含冗余参数的关节空间电机转动轨迹；采用粒子群优化算法（ PSO），将满足机械臂末端振动最小化的轨迹规划问题转换为待定冗余参数的优化问题，并迭代优化求解该参数；最后以三自由度柔性机械臂开展仿真研究。仿真结果表明，提出的规划方法具有很高的收敛速度，节约了计算时间；能够实现预定的机械臂轨迹规划；对机械臂末端点的残余振动能够进行有效地抑制。
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