Abstract
The trajectory control problem for an omnidirectional mobile robot is analysed. It is shown that an external linearization feedback control, processing the measurements of the angular positions and velocities of the wheels, allows to assign a linear dynamical behaviour for the closed loop system and that only robot velocity and orientation can be controlled if absolute position measurements are not available. This is due to the fact that the kinematical constraints between the generalized coordinates are not integrable. This analysis is performed for a particular robot but holds for any mechanical system where the constraints between the generalized coordinates are not integrable.
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