KINEMATIC MODELING OF OMNIDIRECTIONAL WHEELED MOBILE ROBOTS RUNNING ON SPHERICAL SURFACES

Thanks to the fast development of wall climbing robotics, development wheeled mobile robots which can run on large spherical surfaces is reasonable now. This paper deals with kinematic modeling of an omnidirectional wheeled mobile robot running on spherical surfaces by coordinate transformation method. The method in this paper is general, which is suitable for almost all kinds of wheeled mobile robots running on spherical surfaces.