Modeling and Assessing of Omni-directional Robots with Three and

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tangential, normal and angular velocities (holonomic property). Dynamical ... direction follows the front of the robot and the vn direction is orthogonal. 3. ... Wheel velocities v0, v1 and v2 are related with robot s velocities v, vn and Z as described by .... TBZ >N m@ Viscous friction torque with respect to the robot s rotation axis;.
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