Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2)

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces feedback control for an omnidirectional wheeled mobile robot, as well as the constraints on the chassis twist resulting from limits on the wheels' speeds.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
Playlist for Chapter 13: • Modern Robotics, Chapt...
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Wiki for the book, including software and other supplements: modernrobotics.org
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