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A wheeled mobile manipulator system
is modeled using Kane's dynamic equations. Kane's equations are constructed
with minimum effort, are control oriented and provide both physical
insight and fast simulations. The powerful tools of Kane's approach
for incorporating nonholonomic motion constraints and bringing noncontributing forces into
evidence are exploited. Both nonholonomic constraints associated with slipping and
skidding as well as conditions for avoiding tipping over are
included. The resulting equations, along with the set of constraint
equations provide a safe and complete framework for developing control
strategies for mobile manipulator systems.