Trajectory Tracking of Swing-Arm Type Omnidirectional Mobile Robot

Table 3

Lateral tracking capability.

Operation modes	Internal and external swing leg angle	Time spent in leg swing
4WS modes	19.96	0.682
	13.78	0.476
Oblique motion modes	14.92	0.507
	14.96	0.510
Spot turn modes	56.84	1.942
	56.88	1.949