Research on motion control of omnidirectional platform based on virtual prototyping

Aiming at the anisotropy of omnidirectional motion, firstly, the kinematic model is analysed in this paper, then dynamic model based on Lagrange dynamics and virtual prototyping model made by dynamic software RecurDyn are built respectively. The influence of wheels´ slippage toward direction of translation and maximal velocity is simualted and analysed on the same ground, we derives the anisotropy of slip ratio. The feedback loop of position and orientation is used to follow desired path, which settles the basis of further research on motion control.