# Dynamics of Mobile Manipulators using Dual Quaternion Algebra

arXiv: https://arxiv.org/abs/2007.08444 · HTML: https://mlsanity.com/paper/2007.08444/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jul 2020.

## Built on by (most cited first, 1 of 1)

- [Kinematics and Dynamics Modeling of 7 Degrees of Freedom Human Lower Limb Using Dual Quaternions Algebra](https://mlsanity.com/paper/2302.11605/) (2023)

## Abstract (arXiv)

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