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Omni-Directional Robots

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.

Keywords

Roller Axis Forward Kinematic Differential Drive Wheel Axis Vector Decomposition 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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9.6 References

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© Springer-Verlag Berlin Heidelberg 2008

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