Kinematic Analysis of a Screw Wheeled Omnidirectional Mobile Robot
Keywords:Holonomic, Kinematics, Mobile Robot, Omnidirectional, Screw Wheels,
AbstractThis paper presents a study of an omnidirectional mobile robot based on a screw wheels mechanism. A concept design of an omnidirectional mobile robot propelled by four screw wheels approach is introduced. The forward and inverse kinematics equations for the proposed screw wheeled omnidirectional mobile robot are derived and verified via simulation. The results show the effectiveness of both forward and inverse kinematics to deliver 3-DOF omnidirectional movements.
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