  A robot simulation system is a basic need for any robotics application. With
it, developers' teams of robots can test their algorithms and make initial
calibrations without risk of damage to the real robots, assuring safety.
However, building these simulation environments is usually time-consuming work,
and when considering robot fleets, the simulation reveals to be computing
expensive. With it, developers building teams of robots can test their
algorithms and make initial calibrations without risk of damage to the real
robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer
team served to test this approach. The modeling issue was divided into two
steps: modeling the motor's non-linear features and modeling the general
behavior of the robot. A proper fitting of the robot was reached, considering
the velocity robot's response.
