Omnidirectional wheel simulation – a practical approach

Abstract

In this paper a configurable omnidirectional wheel model is presented, which can be used for dynamic simulation and parameter tuning of omnidirectional robotic systems. First a brief overview is given on well known omnidirectional wheel designs and models from the literature, then two modeling approaches are described and compared. The usability of the models is verified by simulation, using two omnidirectional platforms and kinematic equations from the literature. This work has been carried out using the Dymola modeling environment and the Modelica language.