本文提出了柔性机械臂运动控制和振动抑制的两种有效的开环控制方法——两点边值逆动力学方法和轨迹规划逆动力学方法。两种逆动力学方法所设计的开环输入不仅可以实现柔性机械臂的点位运动或跟踪优化轨迹，而且同时显著降低或消除了结构柔性对其精确定位的影响。数值模拟和实验证实了理论分析结果 In this paper, two effective open-loop control methods of flexible manipulator motion control and vibration suppression are proposed-two-point boundary value inverse dynamics method and trajectory planning inverse kinematics method. The open-loop input designed by the two inverse dynamics methods can not only realize the spot movement of the flexible manipulator or track the optimized trajectory, but also significantly reduce or eliminate the influence of structural flexibility on its precise positioning. Numerical simulation and experiments confirm the theoretical analysis results