2026-04-17T04:15:03Zhttps://recercat.cat/oai/request

oai:recercat.cat:10459.1/4698482026-03-30T18:44:07Zcom_2072_3622col_2072_479130

2026-03-30T18:44:07Z urn:hdl:10459.1/469848 Evaluation and Correction of Systematic Motion Errors in a Compact Three-Wheeled Omnidirectional Platform Based on Servomotors Martínez, David Rubies, Elena Bitriá Ribes, Ricard Palacín Roca, Jordi Omnidirectional platform Omnidirectional wheel Digital servomotor This paper evaluates and corrects systematic odometry errors in a compact omnidirectional mobile platform equipped with three omni-wheels driven by digital servomotors featuring velocity control capabilities. Compared to differential-drive platforms, omnidirectional platforms offer the significant advantage of being able to translate in any direction while rotating simultaneously. The motion capabilities of the platform have been experimentally evaluated, and its systematic motion errors analyzed and corrected. The final motion capabilities achieved confirm that a basic three-wheeled omnidirectional platform driven by servomotors is suitable for use as a testbench for control algorithms and trajectory-tracking experiments. This research was partially funded by Ministerio de Ciencia, Innovación y Universidades: FPU22/00526; and Departament de Recerca i Universitats: AGAUR FI SDUR 2022 2026-03-30T18:44:07Z 2026-03-30T18:44:07Z 2025 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://hdl.handle.net/10459.1/469848 Reproducció del document publicat a https://doi.org/10.3390/app151910700 Applied Sciences, 2025, vol. 15, núm. 19, 10700 cc-by (c) David Martínez et al., 2025 Attribution 4.0 International info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/4.0/ MDPI