@@ INTRODUCTIONWith the development of flexible automatic technology and robots,all kinds of joint robots havebeen applied widely.Research on flexible robot,which has been a hot point of research all over theworld,extends application fields of robots and more and more being consonant with mechanism propertiesof human.Due to flexible robots include flexible units,it is easy to produce bend deformed during movementand brings many difficulties for building the dynamic modeling of flexible robots.While establishingaccurate and practical dynamic modeling is important,for it is a prerequisite condition of designing flexiblerobots with high performance controllers.
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