Kinematics modeling and analysis for threewheel omnidirectional mobile robot

In order to get high rapidity and high maneuverability, three omnidirectional wheels with double-layer structure are used as walking mechanism of the mobile robot. To solve the problem of movement instability, the ideal and actual kinematics models of the omnidirectional mobile robot are presented. Subsequently, the influence of the double-layer structure on robot motion is analyzed theoretically. Then a conclusion that such omnidirectional wheels will induce a deviation from rotation of the robot is drawn. Further, a simple compensation model is proposed. Finally, the conclusion is validated through the simulation.