Simulation Modeling and Control of a Mobile Robot with Omnidirectional Wheels

  • T. Kubela
  • A. Pochylý
Conference paper


This contribution summarizes the results of work carried out during the proposal and simulation modelling of the mobile robot undercarriage equipped with omnidirectional wheels.

In order to make an accurate design and appropriate dimensioning of driving units, there was carried out a simulation of dynamic properties of the undercarriage with omnidirectional wheels in Mathworks MATLAB 7.

There is described a kinematical and a dynamical model of the whole robot platform. By using this functionality we can relatively overcome the problem of miss-alignments of the wheels during the assembly. Results of the simulation were summarized in form of a state space model of the whole robot platform.


Mobile Robot State Space Model Inverse Kinematic Robot Platform Good Maneuverability 
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7. References

  1. [1]
    Kubela, T., Pochylý A., Knoflíček R. (2006) Dynamic properties modeling of mobile robot undercarriage with omnidirectional wheels: Proceedings of International Conference PhD2006, Pilsen, pp 45–46.Google Scholar
  2. [2]
    Rodrigues, J., Brandao, S., Lobo, J., Rocha, R., Dias, J. (2005) RAC Robotic Soccer small-size team: Omnidirectional Drive Modelling and Robot construction, Robótica 2005 — Actas do Encontro CientÍfico, pp 130–135.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • T. Kubela
    • 1
  • A. Pochylý
    • 1
  1. 1.Institute of Production Machines, Systems and Robotics, Faculty of Mechanical EngineeringBrno University of TechnologyBrnoCzech Republic

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