Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator

In this paper, we describe a new type of holonomic and omnidirectional mobi le robot using two driving assemblies, one of which consists of two indepen dent driving wheel mechanisms, just like an active dual-wheel caster with a n offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applie d to construct a feedback control system based on a resolved velocity contr ol system for the robot. The effectiveness of the presented method is illus trated by some computer simulations. The prototype of a mobile robot platfo rm using two driving assemblies, which can be controlled by a personal comp uter or a 3D joystick manipulated by human, is constructed.