For the problems of excavator manipulator trajectory tracking during operation and vibration control

the rigid-flexible coupling nonlinear dynamics model of excavator manipulator is established

the decoupling of two parts of joint angle variables and the elastic variables in the model is carried out

the excavator manipulator trajectory tracking and residual vibration suppression is calculated

the numerical verification of establishing related model is carried out according to the calculation data.The results show that excavator rigid-flexible coupling manipulator trajectory tracking control method is effective

linear quadratics optimal control method by the residual vibration of mechanical systems excavator elastic deformation caused by the flexible manipulator has played a significant inhibitory effect.