Dynamic modelling and control design of a class of omnidirectional mobile robots

Abstract

This paper is devoted to the dynamic analysis of real redundant mobile robots, for which, two types of constraints characterizing ideal redundant robots, are not satisfied: kinematic constraints related to the contact conditions between the wheels and the ground, and the geometric constraints related to the coordination of the wheel orientation angles. In order to assure a good trajectory tracking, an output feedback linearizing control law is derived and illustrated by simulation results.