Dynamic modeling and identification of earthmoving engines without kinematic constraints: application to the compactor

This paper deals with the design and the identification of the dynamic model of a compactor, an articulated frame steering mobile engine for use in road construction. The theoretical development is based on an extended classical robot description and takes the contact strengths between rigid wheels and unprepared terrain into account. This formulation allows the automatic symbolic calculation on the dynamic model. The achieved model is linear in relation to a set of dynamic parameters which can be identified using a weighted least squares method. A survey of these techniques is given and applied to the experimental identification of the dynamic parameters of the compactor