This paper describes models of dynamics for articulated vehicles (tractor with a semitrailer and a tractor with a trailer). The models are obtained by using joint coordinates and homogenous transformations. Yawing velocities of the vehicle units have been measured during a sharp turn maneuver. The results of experimental measurements are then used to calibrate the mathematical models, which means the parameters of tires for the Dugoff–Uffelman model are chosen in such a way that the results of calculations and measurements are compatible. In order to solve this problem, an optimization method is used. Satisfactory results have been achieved and they are presented in this paper. Further, the model calibrated is used to analyze how the friction in the connections between the tractor and semitrailer, as well as between the dolly and the trailer, influences the motion of the vehicle.

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