Abstract. The increased use of spherical wheels has allowed mobile robots to have a
higher degree of maneuverability, less complex path planning and less
complex control schemes. The geometry and design of the mobile robot are the
principal attributes that guarantee an omnidirectional motion. Furthermore,
the platform uses an active spherical wheel and four passive spherical
wheels to get the best stability when the robot uses a terminal element
(Kärcher). The proposed model has been designed to improve the
omnidirectional motion issues, such as vibration into the platform or lack of
punctual contact between the wheel and the floor, compared to mobile robots
using Mecanum wheels and more than one active wheel; due to the design
concept, all the mathematical formulations, kinematics and dynamics presents
how the models are validated with computer simulations.
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