The Dynamic modeling and Analysis for Redundantly Actuated Omni-directional Mobile Robots

$\textbullet$ Lack of exact dynamic modeling of omni-directional mobile robots $\textbullet$ The exact dynamic model of the mobile robots including the wheel dynamics $\textbullet$ The joint-space and operational-space dynamic model of the mobile are dervied as anaytical forms $\textbullet$ Comparison between the discrepancy of the incomplete dynamic and the exact dynamic $\textbullet$ Useful aspect of redundant actuation