Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

Table 1

Parameters of the omnidirectional mobile robot.

Parameter	Description	Value	Units
	Angle for position of wheel 1		rad
	Angle for position of wheel 2		rad
	Wheel’s inertia		kg·m^2
	Mobile’s inertia	0.0127	kg·m^2
	Mass	11.83	kg
	Wheel’s radius	0.0625	m
	Distance to the wheels	0.287	m