Dynamic modeling of nonholonomic wheeled mobile manipulators with elastic joints using recursive GibbsAppell formulation

This paper focuses on the study of dynamic modeling of nonholonomic wheeled mobile roboticmanipulators, which consist of a serial manipulator with elastic joints and an autonomous wheeled mobileplatform. to avoid computing the lagrange multipliers associated with the nonholonomic constraints,the approach of gibbs-appell (g-a) formulation in recursive form is adopted. for modeling the systemcompletely and precisely, dynamic interactions between the manipulator and the mobile platform, as wellas both nonholonomic constraints associated with the no-slipping and the no-skidding conditions, areincluded. based on developed formulation, an algorithm is proposed that recursively and systematicallyderives the equation of motion. in this algorithm, in order to improve the computational complexity, allmathematical operations are done by only 3  3 and 3  1 matrices. also, all dynamic expressions of alink are expressed in the same link local coordinate system. finally, two computational simulations formobile manipulators with rigid and elastic joints are presented to indicate the capability of this algorithmin generating the equation of motion of mobile robotic manipulators with high degree of freedom.