A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels

This paper presents a novel dynamic modelling approach for omnidirectional mobile robots (OMRs) with powered caster wheels (PCWs). For the conventional dynamic modeling, the internal forces induced by the redundant actuation of the OMR are not analyzed, which will affect the dynamic performance and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the OMR. By the nonsqueezing dynamic model, the driving torques applied by the PCWs all contribute to the motion of the OMR. Consequently, the required driving torques are reduced compared to the conventional torque distribution method, which will improve the dynamic performance and energy efficiency for the OMR. To illustrate the effectiveness of the nonsqueezing dynamic model, simulation examples are provided.

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