Experimental identification of the dynamics parameters of an omnidirectional wheeled mobile robot

The accuracy of a controllers based model relies highly on the ability of the robot model to accurately predict the required actuator toques, e.g. computed torque control. The paper discusses the experimental identification of the dynamics model of an omnidirectional mobile robot. The experimental results show that the accurate estimation of parameters of the dynamics model is attainable and these estimated parameters will be useful for robust controllers.