In this paper the authors are presenting an omni-directional mobile robot, developed for educational and research purposes. The omni-directional motion capabilities of the robot are due to its special Mecanum wheels. The paper provides general information about Mecanum omni-directional wheels, mechanical design aspects of the wheels and the robot and it also describes the kinematic and dynamic models of the robot and the control system.
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Tătar et al. (2014) studied this question.
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