{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T05:30:54Z","timestamp":1775712654980,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,12,13]],"date-time":"2021-12-13T00:00:00Z","timestamp":1639353600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Omnidirectional planar robots are common these days due to their high mobility, for example in human\u2013robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable the usage of regular wheels. Yet, it is known that an ACW robot with three actuated wheels needs to overcome kinematic singularities. This paper introduces the kinematic model for an ACW omni robot. We present a novel method to overcome the kinematic singularities of the mechanism\u2019s Jacobian matrix by performing the time propagation in the mechanism\u2019s configuration space. We show how the implementation of this method enables the estimation of caster wheels\u2019 swivel angles by tracking the plate\u2019s velocity. We present the mechanism\u2019s kinematics and trajectory tracking in real-world experimentation using a novel robot design.<\/jats:p>","DOI":"10.3390\/robotics10040133","type":"journal-article","created":{"date-parts":[[2021,12,13]],"date-time":"2021-12-13T03:14:29Z","timestamp":1639365269000},"page":"133","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6590-0059","authenticated-orcid":false,"given":"Oded","family":"Medina","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Ariel University, Ramat HaGolan St. 65, Ariel 4070000, Israel"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6487-161X","authenticated-orcid":false,"given":"Shlomi","family":"Hacohen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Ariel University, Ramat HaGolan St. 65, Ariel 4070000, Israel"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"104841","DOI":"10.1109\/ACCESS.2020.2999344","article-title":"Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner","volume":"8","author":"Long","year":"2020","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1729881417744570","DOI":"10.1177\/1729881417744570","article-title":"Experimental investigations of a highly maneuverable mobile omniwheel robot","volume":"14","author":"Kilin","year":"2017","journal-title":"Int. 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