1. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels
J. Mech. Des. 2008;130(5): doi: /
Figure Legend:
An offset caster wheel, with offset b, radius r, steer joint ϕ, and drive joint rρ

2. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels
J. Mech. Des. 2008;130(5): doi: /
Figure Legend:
Frame assignment and parameter definition of the mobile robot. Vector tCi is obtained by rotating the contact point position vector pCi by 90deg anticlockwise and keeping the same magnitude.

3. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels
J. Mech. Des. 2008;130(5): doi: /
Figure Legend:
Example of a singular configuration for a case with three actuated joints. The actuated joints are [ϕk,ρk,ρi].

4. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels
J. Mech. Des. 2008;130(5): doi: /
Figure Legend:
Example of a singular configuration for a case with three actuated joints. The actuated joints are [ϕk,ρk,ϕi].