Articles | Volume 13, issue 1
Research article
07 Feb 2022
Research article |  | 07 Feb 2022

Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

Luis Daniel Filomeno Amador and Eduardo Castillo Castañeda

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

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Short summary
In mobile robot development, the designer focuses on the novelty of the final element, leaving out the mobile platform evolution; the chief problem with wheeled mobile robots is the restricted movement in the workspace due to the necessity for the system's reorientation. Our goal is to realize a wheeled mobile robotic system that can generate an omnidirectional displacement without the need to redirect the wheels, thus guaranteeing continuous operation.