4D trajectory generation is one the most fundamental functions in the airspace simulation system. Currently, most methods are based on partitioning of the flight. In this paper, a new 4D trajectory generation method is proposed based on historical radar data processing, which includes implementing the traffic flow theory to generate the initial state of each flight, and introducing the interacting multiple model smoother and spline interpolation to determine the intermediate flying status. Results on simulated and real data are discussed at the end.

In order to study the dynamic phenomenon of flexible robot, a physical model of a rigid-flexible constrained robot with three links is presented. The front link is flexible, and two back links are rigid. Some factors, such as flexibility of link and joints, gravity, damping, mass of joints, are considered in the model. Further more, the dynamic equation is obtained by Lagrangian method. It is a high coupled and high nonlinear system. One fuzzy PID controller was designed, so that the parameters of the controller based on model can be modified on line to realize high precision position and force control. The simulation results indicate that the controller is valid to control the position error and force error of the system.