Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

Abstract

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Swedish wheeled robots have received growing attention over the last few years. Their kinematic models have interesting properties in terms of mobility and possible singularities. This paper addresses the issue of kinematic modeling, singularity analysis, and motion control for a generic vehicle equipped with <formula formulatype="inline"><tex Notation="TeX">${\bm N}$</tex></formula> Swedish wheels. </para>