Dynamic model and control for a holonomic omnidirectional mobile robot

In the recent past, mobile robots with high mobility have been developed ac tively. We have already proposed a holonomic and omnidirectional mobile rob ot using two active dual-wheel caster assemblies and also derived the kinem atic models for the assembly and the mobile robot. This paper presents dyna mic analysis and control for the mobile robot. The dynamic model has been d erived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments us ing a prototype robot as well as simulations.