3. Kinematics and mobility of wheeled robots
As unicycle or car-type robots are non-holonomic, they cannot move sideways. A platform with all wheels steered (zero caster wheels) can move sideways, but only after the wheels have been reoriented at 90°. This is called omnidirectional, but is generally non-holonomic. However, some omnidirectional platform architectures are also holonomic.
3.1 Omnidirectional robots
-
Holonomic platform with conventional wheels
In a highly constrained environment, it is necessary to have an omnidirectional system to avoid having to make complex maneuvers which are sometimes very difficult to generate automatically. If, in addition, rapid response and high reactivity are required, we may have to opt for so-called holonomic and...
The Ultimate Scientific and Technical Reference
This article is included in
Robotics
This offer includes:
Knowledge Base
Updated and enriched with articles validated by our scientific committees
Services
A set of exclusive tools to complement the resources
Practical Path
Operational and didactic, to guarantee the acquisition of transversal skills
Doc & Quiz
Interactive articles with quizzes, for constructive reading
Kinematics and mobility of wheeled robots
Travel management
Bibliography
The Ultimate Scientific and Technical Reference
