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My question is that I cannot deduce the relation between phi1, phi2, phi3 values of the omni robot (3 wheeled) and the motor's PWM values, since I'm planning on designing the robot to perform "go to goal" operation, I have the jacobian matrix, from which I will get the phi1, phi2, phi3 values (instantaneous), although for odometry I cannot find anywhere the relation between the angular positions and the PWM values for the quad encoder motor that I'm planning to use. Please reply. I have attached paper that I referred to - http://mate.tue.nl/mate/pdfs/7566.pdf

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