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This paper focuses on deriving the dynamic model of a novel flexible mobile robot, which has elastic joint, so that the robot is able to be simulated with a computer and analyzed dynamically. First, the dynamic equations are derived from Routh formulation with the nonholonomic constraints of the robot, and then the nonholonomic constraint forces are removed so that the dynamic equations are transformed to an input-affine form at last. Three illustrative simulation results are given which show that the dynamic model presented in this paper is reasonable. © 2008 Springer Berlin Heidelberg.
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