Analysis and Design of a Wheeled Holonomic Omnidirectional Robot

Abstract

The present work deals with the understanding of the kinematic equations and design of a wheeled mobile robot based on holonomic motion. The robot offers exceptional mobility because it could perform translation and rotation at the same time. This technology may displace existing wheeled mobile robots because it is more efficient and dexterous. Finally, based on the conceptual design, the mechanical structure, electronics and experimental results of a high mobility omnidirectional platform are presented