Kinematics of Wheeled

Mobile Robot II
The mobile robot Forward kinematic model, as: W= Wheel Configuration Matrix which depends
on the type of wheel
𝑥ሶ cos 𝜓 −𝑠𝑖𝑛 𝜓 0 𝑢 𝝎 = Vector of angular velocity of the wheel
𝑦ሶ = sin 𝜓 cos 𝜓 0 𝑣 𝜼ሶ = is the vector of time derivative of generalized
coordinates
𝜓ሶ 0 0 1 𝑟
𝑱 𝝍 = Jacobian matrix which maps the input
velocity commands to the derivatives of the
𝜂ሶ = 𝐽 𝜓 𝜍 generalized coordinates
𝝇 = Vector of velocity input commands
u: Forward velocity of the mobile robot w.r.t. B
Based on wheel configuration we can write v: Lateral velocity of the mobile robot w.r.t. B
r : Angular velocity of the mobile robot w.r.t. B

The Generalized kinematic model of the mobile robot, as:

1 1 𝑢
cos 𝜃𝐵𝑖 sin 𝜃𝐵𝑖 1 0 −𝑑𝑦𝑖
𝜔𝑖 = tan ∅𝑖 𝑣
𝑎𝑖 𝑎𝑖 −sin 𝜃𝐵𝑖 cos 𝜃𝐵𝑖 0 1 𝑑𝑥𝑖 𝑟
 1 1 𝑢
cos 𝜃𝐵𝑖 sin 𝜃𝐵𝑖 1 0 −𝑑𝑦𝑖
𝜔𝑖 = tan ∅𝑖 𝑣
𝑎𝑖 𝑎𝑖 −sin 𝜃𝐵𝑖 cos 𝜃𝐵𝑖 0 1 𝑑𝑥𝑖 𝑟

th
𝑪𝒊 - wheel frame center of the i
wheel
th
𝝎𝒊 - Angular velocity of the i wheel.
th
𝒂𝒊 - Radius of the i wheel.
∅𝒊 - Angle between roller axis to the
Xci axis.
dxi and dyi are the position
coordinates of ci with reference to B
𝜃𝐵𝑖 - Angle between the vehicle
frame (B) to the wheel frame (ci )
The vector of the input velocity command of the land-based mobile robot is
3
given as 𝜍 = 2 and the mobile robot (body) frame is oriented 45˚ with
1
respect to the fixed frame. In this case, what will be the time derivatives of
the generalized coordinates?
 Forward Kinematics of Differential wheel drive mobile robot
From Generalized wheel model, we have the relationship between wheel angular
velocity and vector of velocity input commands

1 1 1 0 −𝑑𝑦𝑖 𝑢
cos 𝜃𝐵𝑖 sin 𝜃𝐵𝑖
𝜔𝑖 = tan ∅𝑖 𝑣
𝑎𝑖 𝑎𝑖 −sin 𝜃𝐵𝑖 cos 𝜃𝐵𝑖 0 1 𝑑𝑥𝑖 𝑟
For differential wheel mobile robot:

No passive rollers so φ1 = φ2 = 0
• dy1 = d, 𝑑𝑥1 = 0, a1 = a
• dy2 = −d, 𝑑𝑥2 = 0, a2 = a
 Differential wheel drive mobile robot
For a differential wheel drive mobile robot:

The generalized kinematic model of wheeled mobile robot is:

Differential wheel drive mobile robot
Arranging (1) and (2 ) in matrix form

−1
1 𝑑
𝑢 − 𝜔1
= 𝑎 𝑎
𝜔2
𝑟 1 𝑑
𝑎 𝑎
Differential wheel drive mobile robot

The forward kinematic model for a differential

drive mobile robot is:

𝑎 𝑎
𝑥ሶ cos 𝜓 −𝑠𝑖𝑛 𝜓 0 2 2 𝜔1
𝑦ሶ = sin 𝜓 cos 𝜓 0 0 0 𝜔
𝜓ሶ 0 0 1 𝑎 𝑎 2
−
2𝑑 2𝑑
• In a differential drive mobile robot, the left side wheel angular velocity
is 0.6 rad/s and the right-side wheel angular velocity is 1.4 rad/s, both
wheels are of same size and the wheel radius is 15 cm. Distance
between the wheels is 50cm. What will be the longitudinal velocity (u)
of the robot with respect to the body frame?
A differential drive mobile robot moves with an angular velocity 𝜔1 = 𝜋 rad/s and 𝜔2 =
− 2𝜋 rad/s. If a=d=100mm, obtain the linear and angular velocities of the differential
wheel drive mobile robot.
For a square matrix with linearly independent columns/rows,
i.e., m = n:

W+ denotes the Moore-Penrose

pseudoinverse of the matrix W

This particular pseudo inverse constitutes a left inverse, since, in this case,
W+ denotes the Moore-Penrose
pseudoinverse of the matrix W
 Skid steering
wheel drive mobile
robot
• A skid steering wheel drive
mobile robot is a type of wheeled
robot that utilizes a differential
drive system for maneuvering.
• Skid steering is a common
method for controlling the
motion of vehicles like tanks,
bulldozers, and certain types of
robots, allowing them to move in
any direction without the need
for a conventional steering
mechanism.
Forward Kinematics of Skid steering wheel drive mobile robot

The generalized kinematic model of wheeled mobile robot is:

 𝑢
1 1 0 −𝑑 𝑣
= 0
𝑎 0 1 𝑙 𝑟
𝒖
1 𝑑
= 𝟎 − 𝒗
𝑎 𝑎 𝒓
1 1
= u - rd
𝑎 𝑎
 1 𝑑
−
In Matrix Form, 𝑎 𝑎
𝜔1 1 𝑑
𝜔2 −
= 𝑎 𝑎 𝑢
𝜔3 1 𝑑 𝑟
𝜔4 𝑎 𝑎
1 𝑑
𝑎 𝑎
But we need

−1
1 𝑑
−
𝑎 𝑎
1 𝑑 𝜔1
𝑢 − 𝜔2
= 𝑎 𝑎
𝜔3
𝑟 1 𝑑
𝑎 𝑎 𝜔4
1 𝑑
𝑎 𝑎
By pseudo inverse or Moore-Penrose Inverse

1 𝑑
−
𝑎 𝑎
1 1 1 1 1 𝑑 4
− 0
𝑊𝑇𝑊 = 𝑎 𝑎 𝑎 𝑎 𝑎 𝑎 𝑎2
𝑑 𝑑 𝑑 𝑑 1 𝑑 =
− − 4𝑑 2
𝑎 𝑎 𝑎 𝑎 𝑎 𝑎 0
1 𝑑 𝑎2
𝑎 𝑎
 4𝑑2
𝑎4 0
𝑊𝑇𝑊 −1 = 𝑎2
16𝑑2 4
0
𝑎2
Simplify,
𝑎2
0
= 4
𝑎2
0
4𝑑 2

𝑎2 1 1 1 1 𝑎 𝑎 𝑎 𝑎
0
𝑊𝑇𝑊 −1 ∙ 𝑊𝑇 = 4 𝑎 𝑎 𝑎 𝑎 = 4𝑎 4
𝑎
4
𝑎
4
𝑎
𝑎2 𝑑 𝑑 𝑑 𝑑
− −
0 − − 4𝑑 4𝑑 4𝑑 4𝑑
4𝑑 2 𝑎 𝑎 𝑎 𝑎

𝑎 𝑎 𝑎 𝑎 𝜔1
𝑢 4 4 4 4
𝜔2
∴ = 𝑎 𝑎 𝑎 𝑎 𝜔3
𝑟 − −
4𝑑 4𝑑 4𝑑 4𝑑 𝜔4
 𝑎 𝑎 𝑎 𝑎 𝜔1
𝑢 4 4 4 4 𝜔2
𝑣 =𝜍= 0 0 0 0 𝜔3 = W𝜔
𝑟 −
𝑎
−
𝑎 𝑎 𝑎
4𝑑 4𝑑 4𝑑 4𝑑 𝜔4

The forward kinematic model for a skid steering drive mobile robot is:

𝑎 𝑎 𝑎 𝑎
𝑥ሶ 𝜔1
cos 𝜓 −𝑠𝑖𝑛 𝜓 0 4 4 4 4 𝜔2
𝑦ሶ = sin 𝜓 cos 𝜓 0 0 0 0 0
𝑎 𝑎 𝑎 𝑎 𝜔3
𝜓ሶ 0 0 1
− − 𝜔4
4𝑑 4𝑑 4𝑑 4𝑑
Forward Kinematic Model of Omni wheel Mobile Robot
The generalized kinematic model of wheeled mobile robot is:

𝑑𝑥1 = 𝑙 , 𝑑𝑥2 = −𝑙 𝑠𝑖𝑛 30 , 𝑑𝑥3 = −𝑙 𝑠𝑖𝑛 30

𝑑𝑦1 = 0 , 𝑑𝑦2 = 𝑙 𝑐𝑜𝑠 30 , 𝑑𝑦3 = −𝑙 𝑐𝑜𝑠 30
OR

∅𝒊 - Angle between roller axis to the Xci axis.

𝑑𝑥1 = 𝑙 , 𝑑𝑥2 = −𝑙 𝑠𝑖𝑛 30 , 𝑑𝑥3 = −𝑙 𝑠𝑖𝑛 30
𝑑𝑦1 = 0 , 𝑑𝑦2 = 𝑙 𝑐𝑜𝑠 30 , 𝑑𝑥3 = −𝑙 𝑐𝑜𝑠 30
But we need,
1 𝑙 −1
0
𝑎 𝑎 𝜔1
𝑢
3 1 𝑙
𝑣 =𝜁= − − 𝜔2
2𝑎 2𝑎 𝑎
𝑟 3 1 𝑙
𝜔3
−
2𝑎 2𝑎 𝑎
 1 𝑙
0 Determinant of A is
𝑎 𝑎
3 1 𝑙 1 𝑙 3 𝑙 3 1
Let A = − 2𝑎 − 2𝑎 − − − −
𝑎
1+1 2𝑎 𝑎 1 1+2 2𝑎 𝑎 + 𝑙 (−1)1+3 2𝑎 2𝑎 = 𝟑 𝟑 𝒍
3 1 𝑙 (0)(−1) + −1
− 2𝑎 1 𝑙 𝑎 3 𝑙 𝑎 3 1 𝟐 𝒂𝟑
2𝑎 𝑎 − −
2𝑎 𝑎 2𝑎 𝑎 2𝑎 2𝑎

To find adjoint first find Co factor matrix:

1 𝑙 1 𝑙
𝑎 = 3𝑙
1 𝑙
− 2𝑎 𝐶21 = (−1)2+1 𝑎 𝑎 = − 3𝑙 𝐶31 = (−1)3+1 𝑎
1+1 𝑎
𝐶11 = (−1) 1 𝑙 =0 1 𝑙 2𝑎2 1 𝑙 2𝑎2
− 2𝑎 − −
𝑎 2𝑎 𝑎 2𝑎 𝑎

3 𝑙
− 𝑙 1
𝐶12 = (−1)1+2 2𝑎 𝑎 = 3𝑙 0 0
𝑎2 𝑎 3𝑙 𝑎 3
3 𝑙 𝐶22 = (−1)2+2 =− 2 𝐶32 = (−1)2+3 =− 2
3 𝑙 2𝑎 3 1 2𝑎
2𝑎 𝑎 − − −
2𝑎 𝑎 2𝑎 2𝑎

1 1
3 𝑙 0 0
− 𝑎 3 𝑎 3
2𝑎 𝑎 = 3 𝐶23 = (−1)2+3 = 2 𝐶33 = (−1)2+3 = 2
𝐶13 = (−1)1+3 3 1 2𝑎 3 1 2𝑎
3 𝑙 2𝑎2 − − −
2𝑎 2𝑎 2𝑎 2𝑎
2𝑎 𝑎
 Thus, Cofactor Matrix is : 3𝑙 3
0
𝑎2 2𝑎 2
3𝑙 3𝑙 3
− − 2
2𝑎2 2𝑎 2𝑎 2
3𝑙 3 3
− 2
2𝑎2 2𝑎 2𝑎 2

𝑇
3𝑙 3 3𝑙 3𝑙
0 0 −
Adjoint of Matrix is : 𝑎2 2𝑎2 2𝑎2 2𝑎2
3𝑙 3𝑙 3 3𝑙 3𝑙 3
− 2 − 2 = − 2 − 2
2𝑎 2𝑎 2𝑎2 𝑎2 2𝑎 2𝑎
3𝑙 3 3 3 3 3
− 2
2𝑎2 2𝑎 2𝑎2 2𝑎2 2𝑎2 2𝑎2

Inverse Matrix is :
3𝑙 3𝑙
0 −
2𝑎2 2𝑎2
2 𝑎3 3𝑙 3𝑙 3
− 2 − 2
3 3 𝑙 𝑎2 2𝑎 2𝑎
3 3 3
2𝑎2 2𝑎2 2𝑎2
Substituting, we get

𝑢 0 − 3 3 𝜔1
𝑎
𝑣 = 𝜁 = 2 −1 −1 𝜔2
3 1 1 1
𝑟 𝜔3
𝑙 𝑙 𝑙
For a given mobile robot with three omni-directional wheels, the wheel configuration matrix (W) is given, if the robot is
to move in a lateral direction (upwards), then what will be the right combination of these wheel angular velocities?
0.5
Also, if angular velocities are −0.25 rad/s, a=0.2m,𝑙 = 0.3𝑚 find the longitudinal velocity (u) lateral velocity
−0.25
(v)and angular velocity(r) of the robot with respect to the body frame?

𝑢 0 − 3 3 𝜔1
𝑎
𝑣 = 𝜁 = 2 −1 −1 𝜔2
3 1 1 1
𝑟 𝜔3
W1=w, w2=-w/2,w3=-w/2 𝑙 𝑙 𝑙
 Mecanum wheel Mobile Robot
The generalized kinematic model of wheeled mobile robot is:

∅1

∅2

∅1 = −45, ∅2 = 45, ∅3 = −45, ∅4 = 45

∅4
∅3

I
∅𝒊 - Angle between roller axis to the Xci axis.
∅1 = −45, ∅2 = 45, ∅3 = −45, ∅4 = 45

The generalized kinematic model of wheeled mobile robot is:

- 1
= 𝑢−𝑣−𝑟 𝑑+𝑙
𝑎

1
= 𝑢+𝑣−𝑟 𝑑+𝑙
𝑎
 -
1
= 𝑢−𝑣+𝑟 𝑑+𝑙
𝑎

1
= 𝑢+𝑣+𝑟 𝑑+𝑙
𝑎
𝜔1 1 −1 −(𝑙 + 𝑑)
𝜔2 1 1 1 −(𝑙 + 𝑑) 𝑢
= 𝑣
𝜔3 𝑎 1 −1 (𝑙 + 𝑑) 𝑟
𝜔4 1 1 (𝑙 + 𝑑)

−1
1 −1 −(𝑙 + 𝑑) 𝜔1
𝑢 1 1 1 −(𝑙 + 𝑑) 𝜔2
𝑣 =
𝑎 1 −1 (𝑙 + 𝑑) 𝜔3
𝑟
1 1 (𝑙 + 𝑑) 𝜔4
 1 1 1 1 𝜔1
𝑢 𝑎 −1 1 −1 1 𝜔2
𝑣 =𝜍=
4 1 1 1 1 𝜔3
𝑟 − −
(𝑙 + 𝑑) (𝑙 + 𝑑) (𝑙 + 𝑑) (𝑙 + 𝑑) 𝜔4
 Consider a mobile robot equipped with four Mecanum wheels and initially
oriented parallel to the x-axis. The robot is required to move laterally
(upwards) without rotation, determine the appropriate combination of wheel
angular velocities? Provide a proof to support your answer.

Solution:

We have

𝜔1 1 −1 −(𝑙 + 𝑑)
𝜔2 1 1 1 −(𝑙 + 𝑑) 𝑢
= 𝑣
𝜔3 𝑎 1 −1 (𝑙 + 𝑑) 𝑟
𝜔4 𝑦
1 1 (𝑙 + 𝑑)
to move laterally (upwards) without rotation u=0, r=0, v=1
x
Ans:?
Consider a mobile robot equipped with four Mecanum wheels and initially oriented
parallel to the x-axis. The robot is required to rotate in the counterclockwise direction,
determine the appropriate combination of wheel angular velocities? Provide a proof to
support your answer.
Consider a mobile robot equipped with four Mecanum wheels and initially
oriented parallel to the x-axis. The robot is required to rotate in the
clockwise direction, determine the appropriate combination of wheel
angular velocities? Provide a proof to support your answer.