All the robots introduced in Chapter 8, with the exception of syncro-drive vehicles, have the same deficiency: they cannot drive in all possible directions. For this reason, these robots are called “non-holonomic”. In contrast, a “holonomic” or omni-directional robot is capable of driving in any direction. Most non-holonomic robots cannot drive in a direction perpendicular to their driven wheels. For example, a differential drive robot can drive forward/backward, in a curve, or turn on the spot, but it cannot drive sideways. The omni-directional robots introduced in this chapter, however, are capable of driving in any direction in a 2D plane.
KeywordsRoller Axis Forward Kinematic Differential Drive Wheel Axis Vector Decomposition
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