Kinematic model of a differential drive
robot
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential kinematic configuration
Velocity of the reference point:
Angular velocity of the reference point:
Kinematic configuration:
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics
Simulink Scheme
Matlab file: kinematicModel.m
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics
Calculate the velocity of the right and left wheels
in order to create this path:
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics
Differential kinematic configuration
Velocity of the reference point:
Velocity of the two wheels
𝑅𝐶 = 2 𝑚
𝑚
𝑣 = 0.1
𝑠
𝑏 =1𝑚
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics
Simulink Scheme with Drives Dynamics
Add two new Subsystems
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics
Drives Dynamics
The motor could be modelled
with a Low Pass Filter
1
𝐻 𝑠 =
1 + 𝜏𝑠
𝜏 = time constant of the motor
With a time of about 4-5 𝜏 the
motor reaches the full speed.
M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion
Differential drive robot kinematics