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

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2 Author(s)
Betourne, A. ; CNRS, Montpellier, France ; Fournier, A.

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

Published in:

Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on

Date of Conference:

17-20 Oct 1993