Kinematic analysis of an omnidirectional mobile robot with MY wheels

In this paper, the kinematic model of an omnidirectional mobile robot with special MY wheels is built to analyze its kinematics performance on vibration, control and errors that are caused by the specific structural feature of MY wheels. Trajectory errors, which are induced by vibration in the motion, are reduced distinctly by the proposed control method of both optimized contact distance and improved rotational speed of MY wheel. It can improve the stability of movement for the robot by employing sinusoidal control law to control the angular velocity of MY wheel reasonably. Simulation results are provided to demonstrate the performance of proposed approaches.