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In light of this fact, this article introduces two different kinematic approaches for a typical omnidirectional mobile robot having three caster wheels, and examines singularity configurations of such systems. Then, a singularity\u2010free load\u2010distribution scheme for a redundantly actuated three\u2010wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot (singularity avoidance, input\u2010load saving, and exploiting several subtasks) are presented. \u00a9 2002 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.10039","type":"journal-article","created":{"date-parts":[[2002,8,25]],"date-time":"2002-08-25T23:27:00Z","timestamp":1030318020000},"page":"255-267","source":"Crossref","is-referenced-by-count":31,"title":["The kinematics for redundantly actuated omnidirectional mobile robots"],"prefix":"10.1002","volume":"19","author":[{"given":"Byung\u2010Ju","family":"Yi","sequence":"first","affiliation":[]},{"given":"Whee Kuk","family":"Kim","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2002,5,7]]},"reference":[{"issue":"1","key":"e_1_2_1_2_2","doi-asserted-by":"crossref","DOI":"10.1109\/70.481750","article-title":"Structural properties and classification of kinematic and dynamic models of wheeled mobile 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