Local and Global Isotropy Analysis of Mobile Robots with Three Active Caster Wheels

Abstract

In this paper, we presented the local and global isotropy analysis of a fully actuated caster wheeled omnidirectional mobile robot (COMR) with the steering link offset different from the wheel radius. First, based on the kinematic model, the necessary and sufficient isotropy conditions of a COMR were derived. Second, four different sets of all possible isotropic configurations were identified, along with the expressions for the isotropic steering link