Modeling of a Three Wheeled Omnidirectional Robot Including Friction Models

This paper presents a model of a three-wheeled omnidirectional robot including a static friction model. Besides the modeling is presented a practical approach in order to estimate the coefficients of coulomb and viscous friction, which used sensory information about force and velocity of the robot's center of mass. The proposed model model has the voltages of the motors as inputs and the linear and angular velocities of the robot as outputs. Actual results and simulation with the estimated model are compared to demonstrate the performance of the proposed modeling.