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.

翻译：本文介绍了使用双四环代数获得移动操纵器动态方程式的两种方法:第一种方法基于一般递归式牛顿-电动配方,使用螺旋和扳手,通过高级代数操作传播,并用于任何类型的联合和任意参数化;第二种方法基于高斯最不限制原则(GPLC),包括任意的平等限制;除了显示GPLC与Gibbbs-Appel和凯恩等式的联系外,我们还利用它模拟非热聚变式移动操纵器。我们目前的配方比艺术状态中的对应方更为普通,尽管GPLC在计算上成本更高,模拟结果显示它们与经典的递归式牛顿-电动算法一样准确。