Abstract：In order to effectively adjust and control the motion amplitude of the flexible manipulator and avoid

large deviation between the actual motion track of the flexible manipulator and the target track，a flexible

manipulator motion track control system based on the combination of distributed control system（DCS）and inertial

weight was designed. It is a computer system that integrates computer，communication，display and control and is

controlled by process control and process monitoring. The DCS algorithm was used to control the behavior

amplitude of the monitored object and calculate the inertia weight of the flexible manipulator. The DCS-inertia

weight combination was used to solve the specific value of the prime control index. The software design of the

flexible manipulator motion trajectory control system was realized. The experimental results show that the motion

amplitude of the end coordinates of the manipulator in the horizontal，vertical and spatial axes under the action of

the DCS-inertia weight combination algorithm can be controlled within 10 units of length，and the optimal control

state of the manipulator's motion trajectory can be entered within 0.52 s，with the maximum difference of the

motion trajectory being only 0.01 rad，which verifies the feasibility and effectiveness of the system.

      Key words：DCS-inertial weight combination；flexible mechanical arm；motion track；prime number control；

motor drive circuit；range of motion