Kinematic Modeling of Omnidirectional Mobile Robot Manipulators at Acceleration Level*

Omnidirectional mobile robot manipulators (OMRMs) have a wide range of applications in various industries, because of their mobility and flexibility. Considerable research efforts have been dedicated to this field. However, existing research on the OMRM is almost exclusively based on velocity-level control, which is challenging to apply to the acceleration-level control of the OMRM. In this study, an OMRM system consisting of a six-degree-of-freedom Elfin robot manipulator and a three-wheeled omnidirectional mobile platform is designed, modeled, and analyzed. Furthermore, a kinematic model of the acceleration layer of the OMRM is derived. To prove the correctness and validity of the kinematic model of the OMRM at the acceleration level, this study conducts path tracking experiments. Computer simulation results indicate that the path tracking performance of the OMRM end-effector is excellent, and no dispersion issues are observed.