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

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