MOBILE ROBOT CONTROL BASED ON OMNI WHEEL
Omni wheel is a important robot motion mechanism that is with small discs around the lt circumference which are perpendicular to the turning direction. The effect is that the wheel can be driven with full force, but will also slide laterally with great ease. These wheels are often employed in holonomic drive systems.
By ibrahim TOPAKTAS, Serpil ASKIN, Artur SAFUILLIN