Kinematics, Dynamics, and Control of Omnidirectional Vehicles with Mecanum Wheels

G. Wampfler Institut für Technische Mechanik University of Karlsruhe Karlsruhe, Federal Republic of Germany

M. Salecker Institut für Technische Mechanik University of Karlsruhe Karlsruhe, Federal Republic of Germany

J. Wittenburg Institut für Technische Mechanik University of Karlsruhe Karlsruhe, Federal Republic of Germany

References

Wittenburg , J. 1977 . Dynamics of Systems of Rigid Bodies , Stuttgart : Teubner .
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Agulló , J. , Cardona , S. and Vivancos , J. 1987 . kinematics of vehicles with directional sliding wheels . Mech. Mach. Theory , 22 : 295 – 301 .
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Muir , P. F. and Neuman , C. P. 1987 . Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot . 1987 IEEE International Conference on Robotilcs and Automation . March-April 1987 , Raleigh, North Carolina.
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