How Can I Create a Generic Onmiwheels Model Without Error.

I use the 'Generic Onmiwheel' model which is included in Mobile Robotics Simulation Toolbox.

However, some problems occurred.

Using the parameter the example gives:

I get the robot model as follow：

I am sure this robot model can not fix the result of example.

I was really confused about the distribution and the angle of the wheels.

Tons of gratitude if someone can provide some suggestions.

Answer 1

[Zhuofan Hu]

By the way I have to say,

this robot model seems work well in simlink, which visualizes the moving path of robot.