Proposal for A Method of Verifying Kinematics in Omnidirectional Mobile Robot

Abstract

The omni-roller is widely known as a means of omni-directional movement for mobile robots. In a related study, kinematics with the axial direction of the rollers fixed to the direction of the center of gravity of the machine body has been derived. This study introduces a proposed verification method for the general kinematics, which assumes that the position of the roller is arbitrary.