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.<>
Kinematics, dynamics and control of a conventional wheeled omnidirectional mobile robot
Proceedings of IEEE Systems Man and Cybernetics Conference - SMC ; 2 ; 276-281 vol.2
1993-01-01
487318 byte
Conference paper
Electronic Resource
English
Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot
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