This paper is devoted to the dynamic analysis of real redundant mobile robots, for which, two types of constraints characterizing ideal redundant robots, are not satisfied: kinematic constraints related to the contact conditions between the wheels and the ground, and the geometric constraints related to the coordination of the wheel orientation angles. In order to assure a good trajectory tracking, an output feedback linearizing control law is derived and illustrated by simulation results.

This paper is devoted to the kinematic analysis of mobile robots equipped with centred orientating wheels. The problems of mobility and directionality are addressed and it is shown that such robots are omnidirectional. A state space formulation is proposed allowing it to describe the robot motion, even in the neighbourhood of singular configurations.