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Torque distribution and slip minimization in an omnidirectional mobile base

Two forward kinematic models which are used in the control of an omnidirectional mobile base are evaluated. These two models result in different sensitivities to joint position error. The analysis and experimental results in this paper demonstrate the capabilities of dynamic model in improving the sensitivity of the forward kinematic model, resulting in a more even distribution of joint torques and in minimizing the amount of slip between wheels