Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists wrenches, which are propagated through high-level algebraic operations works for any type joints arbitrary parameterizations. second approach Gauss's Principle Least Constraint (GPLC) includes equality constraints. In addition showing connections GPLC with Gibbs-Appell Kane's equations, we use it model nonholonomic manipulator. Our current formulations more than their counterparts in state art, although computationally expensive, simulation results show that they as accurate classic algorithm.