Dynamic identification and model based control of an omni-wheeled mobile robot

Dynamic model of a robotic system plays an important role in simulation, prediction and control. Often the values of the parameters appearing in the dynamic model of a robot are unknown. System identification provides a good way of obtaining values of model parameters. The obtained model can be used in model based control of the robot. In this paper, dynamic identification of an omni-wheeled mobile robot is performed. The identified model was further applied in a model based control.