Velocity kinematic modeling for wheeled mobile robots

This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs. even though there exists 2 DOF motion at a wheeled pair. The proposed method is implemented successfully to obtain the forward velocity kinematics of a WMR. and it is therefore regarded as a real counterpart to the transformation methodologies widely used for the kinematics of the robot manipulators.