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The kinematic design of a 3-DOF isotropic mobile robot
 Proceedings IEEE International Conference on Robotics and Automation
Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF), their full mobility being obtained by virtue of the free rollers around the periphery of the wheels. The choice of the orientation of the roller axes with respect to the wheel axis, along with the wheel orientations with respect to the platform, the number of wheels, etc., are design issues considered here. A design approach based on the isotropy of the underlying Jacobian matrices is reported in this paper.doi:10.1109/robot.1993.291996 dblp:conf/icra/SahaAD93 fatcat:7gr2pj6f4jcc3n3bic4tenp2um