Omni-directional locomotion for mobile robots
Brian Edward Carter · OhioLink ETD Center (Ohio Library and Information Network) · 2001
c f.1max f.1~nax f.1space max Wheel radius (m) Radial distance to front wheels from the robot's center of gravity (m) Radial distance to rear wheel from the robot's center of gravity (m) Mass of robot (kg) Gravity Constant (9.81 m/s 2 ) Driving torque gain factor Moment of inertia of the robot's wheels (kg*m 2 ) Moment of inertia of the robot (kg*m 2 ) Viscous friction factor of the wheels (kg*m 2/s) Cartesian position of robot with respect to the mobile robot coordinate frame (m) Cartesian position of robot with respect to the world frame (m) Orientation of the robot with respect to the world frame (rad) Angular position of wheel i (rad) Maximum friction coefficient parallel to wheel rotation Maximum friction coefficient orthogonal to wheel rotation Maximum friction coefficient when wheel space between rollers is in contact with the base surface.Angular offset of two front wheels with respect to the mobile robot frame (for our final design, 8= 15°)