Inverse dynamics of nonholonomic wheeled mobile robotic manipulators using recursive Gibbs-Appell formulation

The main purpose of this paper is to derive the inverse dynamic equation of motion of n-rigid robotic manipulator that mounted on a mobile platform, systematically. To avoid the Lagrange multipliers associated with the nonholonomic constraints the approach of Gibbs-Appell formulation in recursive form is adopted. For modeling the system completely and precisely the dynamic interactions between the manipulator and the mobile platform as well as both nonholonomic constraints associated with the no-slipping and the no-skidding conditions are also included. In order to reduce the computational complexity, all the mathematical operations are done by only 3×3 and 3×1 matrices. Also, all dynamic characteristics of a link are expressed in the same link local coordinate system. Finally, a computational simulation for a manipulator with five revolute joints that mounted on a mobile platform is presented to show the ability of this algorithm in generating the equation of motion of mobile robotic manipulators with high degree of freedom.