Velocity Analysis of Omnidirectional Mobile Robot and System Implementation

The kinematic modeling of an omnidirectional mobile robot is introduced, of which the arrangement of the omnidirectional wheels is arbitrary. With the particular structure of omnidirectional wheel, the kinematic performance is distinct while the robot moves in different direction, which is called anisotropy. The rule about the relationship between the maximal velocity and the amount, azimuth of the omnidirectional wheels is deduced. Especially, the kinematic performance of 4-wheeled omnidirectional mobile robot with different arrangement of the 4 wheels is analyzed. A 4-wheeled robot is designed optimally based on the result of velocity analysis. The conclusion of this paper is given and approved through experiments