Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot

We llavc introduced a methodology for the kinematic modeling of wheeled mobile robots'-2. In this paper, we appiy ollr ~nrt~lloclology to lJranr~s~, a11 oIrlllitlirc!rtioIl;11 whcdrd mobile robot which is being developed in the Robotics Institute of Carnegic Mcllon University. We assign coordinate systems to sprcify tho trnrlsforrllat,iorl rnat,ric:c:s ; m t f writ,(! t h o kinonlatic cquations-of-motion. We illustrate the actuuted inverse and s e m e r l jorwurtl solutions; Le., thc calculatiol; of actuator velocitiw from robot vdocit.irs a r d rohk vc~locitic~i: frotu s c w s c d w l d velocities. We apply the actuated inverse ~ n d sensed forward soh~tions t~o t,hc kincmat,ic control of TJranus by: calculating in real-time the robot position from shaft cncodrr readings (Le., dead reckoning); formulating an algorithm to detect wheel slippagr; and clcvrloping an algorit,hxn for fwtlhnck control.