General Dynamic Model for Skid-Steer Mobile Manipulators With Wheel–Ground Interactions

The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators (SSMMs) working in agricultural, construction, or mining environments requires accurate physical models capable of correctly representing disturbances caused by changes in terrain slope, loss of traction, and other wheel-ground interactions. ...