Abstract
Omni-directional mobile robots have been popularly employed in several applicationareas. However, the kinematics and singularity analysis for these systems has not been clearly identified. This paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Throughsimulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoiance, input-load saving, and exploiting several subtasks are presented.
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