This
paper presents the kinematic and dynamic modeling of a two
degrees of freedom manipulator attached to a vehicle with a
two degrees of freedom suspension system. The vehicle is considered
to move with a constant linear speed over an irregular
ground-surface while the end-effector tracks a desired trajectory in a
fixed reference frame. In addition, the effects of highly coupled
dynamic interaction between the manipulator and vehicle (including the suspension
system's effects) have been studied. Finally, simulation results for the
end-effector's straight-line trajectory are presented to illustrate these effects.