Download or read book Geometric Design and Motion Control of an Omni-directional Vehicle written by Donald D. Brown and published by . This book was released on 1999 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: Develops and investigates the geometric design and motion control of an omni-directional vehicle with orbiting-rollered wheels. The research involved a geometric analysis of the hub, the roller supports, and the rollers of a wheel assembly. A tread analysis was conducted to understand the path of the contact point. The motion control equations are derived from a force control perspective, in order to present a less complicated approach than that of the velocity control perspective. Considerations are giving to the effect of variations in roller arrangements on the force control equation. A prototype omni-directional vehicle was constructed to verify the design and control algorithms.