After having proposed the original structure for an omnidirectional mobile robot, we establish the kinematic model. The no-slippage condition between the wheels and the ground and the vehicle's rigidity allow us to obtain the system equations. The transformation into a state space facilitates the wheel motion calculation imposed by the vehicle. A few aspects of dynamics as well as motion generation is introduced. Kinematic simulations conclude this paper and allow an appreciation of the manoeuvring performances and the simplicity of the computations.<>


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    Title :

    Kinematics, dynamics and control of a conventional wheeled omnidirectional mobile robot


    Contributors:
    Betourne, A. (author) / Fournier, A. (author)


    Publication date :

    1993-01-01


    Size :

    487318 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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