ROBOT DIFERENCIAL

CINEMÁTICA
 Jenkin, Computational Principles of Mobile Robotics)
The following notes are adopted from Dudek and Jenkin, Computational Principles of
Mobile Robotics.
The trajectory of the robot can be controlled by varying the velocities of the wheels. The rate
4.1. Differential Drive
mustkinematics
CINEMÁTICA ROBOT DIFERENCIAL
about the ICC be the same for both wheels. Hence, the following equations establi
relation between the motion parameters of a differential drive mobile robot.
A differential drive mobile robot consists of two wheels mounted on a common axis, and each wheel
rom the center of the robot
can be chassis,
controlled which
independently to driveis
thehalfway between
robot either in the left
forward or backward andWhile
direction. rightthe
velocity of each wheel cand be varied to achieve rolling motion, the robot must rotate about a point that
e between the left and right
lies along R
wheels,
the common left =θV
and isr the
right wheelheading angle
axis. The point that the of
robotthe robot,
rotates about is and
knownvasCthe [1]
2
ICC - Instantaneous
he robot chassis center, the motion Center ofofCurvature
the QBot (See Figure 1).
2 chassis can be summarized
d
R− = V l [2]
2

vC = θ̇ r I Cwhere
C d is the distance between the centers of the two wheels, V r ,(1.3) V l are the right and
wheel velocities
d along the ground , and R is the signed distance from the ICC to the midpoi
vL = θ̇ r between
I C C − the wheels. (1.4)
Equation 2
1 and 2 can be solved at any instance of time for R and as follows:
d
vR = θ̇ r I C C + (1.5)
2 Figure 1: Kinematics of differential robots (adapted from Dudek and
Jenkin, Computational Principles of Mobile Robotics)

Document Number 831 ¨ Revision 1.

fined along the same axis, which
The trajectory of the robotlies
can bein the forward/backward
controlled by varying the velocities of thedirection ofofthe
wheels. The rate rotation
about the ICC must be the same for both wheels. Hence, the following equations establish a
and vR , the robot speed, vC ,thethe
relation between angular
motion parametersrate, ωC = drive
of a differential θ̇, mobile
and robot.
the distance from
fined along the same axis, which lies in the forward/backward direction of the
CINEMÁTICA ROBOT DIFERENCIAL
and vR , the robot speed, vC , the angular rate, ωC = θ̇, and the distance from
of the wheels to the motion of the robot using the following kinematic model for

vR + vL
vC = (1.6)
2
vR − vL
ωC = θ̇ = (1.7)
d
d (vR + vL )
rI CC = (1.8)
2 (vR − vL )
 A differential drive mobile robot consists of two wheels mounted on a common axis, and
can be controlled independently to drive the robot either in forward or backward directio
velocity of each wheel can be varied to achieve rolling motion, the robot must rotate abo
CINEMÁTICA ROBOT DIFERENCIAL
lies along the common left and right wheel axis. The point that the robot rotates about is
ICC - Instantaneous Center of Curvature (See Figure 1).

Figure 1: Kinematics of differential robots (adapted from Dudek and

Jenkin, Computational Principles of Mobile Robotics)

The trajectory of the robot can be controlled by varying the velocities of the wheels. The
TRAYECTORIAS - VELOCIDADES
Posición de un Cuerpo Rígido
Rotación de un Cuerpo Rígido
Rotación de un Cuerpo Rígido
Rotación de un Cuerpo Rígido
Matriz de Rotación
Matriz de Rotación empleada - Diff
orward direction aligns with the global x axis. The rate of change ofθ the states canθ̇be expressed in terms of
obot chassis speed, vC , and angular rate, ωC , as follows:
The x and y axes lie ⎡ in⎤ the "ground"
⎡ ⎤ ⎡plane that⎤ the⎡ robot primarily travels⎤ in. The heading, θ,
ẋ v v cos θ 1
(vR + vL ) cos θ
vertical z axis, which⎢ is ⎢ C as
⎥ defined ⎢ C
⎥ positive pointing
⎥ ⎢ 2upwards. The ⎥heading is zero, (θ = 0), w
Cinemática Directa - Diferencial
forward direction
osition, x and y, and the heading,
⎢ ⎥
⎢ ẏ ⎥ =with
Ṡ =aligns
⎢
R ⎢ the
⎣ ⎦ θ, ⎣of the
0
⎥ ⎢
⎥ global
= ⎢ vCxsin
⎦ robot
⎣
θ
axis.
⎥
chassis.
⎦
⎢ 1
⎥ =The
⎢ 2 rate
(v +of
v change
⎣ Its Rdefinition
L ) sin θ
⎥
⎥ of the states can be exp
and
⎦ rate (1
robot chassis speed,θ̇vC , and ω angular rate, ω , as follows:
ωC C d (vR − vL )
1
⎡ ⎤ ⎡ ⎤ C
⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
x ẋ ẋ v v cos θ 1
(v + vL ) cos θ
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ C
⎥ ⎢ C
⎥ ⎢ 2 R ⎥
⎢ ⎥ the forward
Equation 1.5 represents ⎢ kinematics
⎥ ⎢ ⎥ for the
model ⎢ QBot
⎥ 2 that
⎢ computes⎥ the⎢ 1linear speed, (ẋ ⎥and ẏ), a
S= ⎢ ⎥ , Ṡ = ⎢ ẏ ⎥ given Ṡits=heading,
urning rate, (ωC ⎣), yof⎦ the robot chassis
R ⎢ 0 ⎥ = ⎢ vC sin θ ⎥ = ⎢ 2 (vR + vL ) sin θ ⎥
⎢ ẏ ⎥ = (θ),
⎣ ⎦ ⎣ ⎦ ⎣ and⎦ wheel
⎣ speed, ⎦(vR and
⎣ vL ). ⎦
θ θ̇ θ̇ ωC ωC 1
d (vR − vL )
Similarly, the position of the Instantaneous Center of Curvature (ICC) in space, (x and y
I CC ), expressed w
I CC
espect to the global reference frame can be obtained as follows:
⎡ 1.5 represents
⎤ ⎡ ⎤ ⎡ forward ⎤ ⎡
plane that theEquation
robot primarily the
travels in. The heading, θ,
kinematics is⎤ measured
model ⎡ the QBot 2 that computes
for ( v about
+ v ) the ⎤ the linea
x I C C(ω ), ofx − r C sin
0chassisxgiven θ x − and
d R L
θ
v L ) sinspeed,
turning
ositive pointing ⎢rate,
upwards. ⎢ ⎥the
⎥ CThe robot
⎢
heading is ⎢ (θ =I Cits
⎥ zero, 0),heading,
when⎥ ⎢ (θ),robot
the 2 ( vR − wheel
chassis' ⎥ (vR and vL ).
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ d ( vR + vL ) ⎥
bal x axis. The rate ⎢ yI of
C C ⎥ = ⎢
change y ⎥ + R
of ⎢
ther I ⎥
states
C C = ⎢ y +
can r be
I C C cos θ ⎥ =
expressed ⎢ y +in terms − ofcos θ⎥
the (1
⎣ the ⎦position
Similarly, ⎣ ⎦ of the ⎣ Instantaneous
⎦ ⎣ Center ⎦of Curvature
⎣ 2 ( v R v L )
(ICC) in space, ⎦ (x I C C and
r rate, ωC , as follows:
respect to 0the global 0 reference 0 frame can be0obtained as follows:0
⎤ ⎡ ⎤ ⎡ ⎤ ⎡⎡ ⎤ ⎡ ⎤ ⎤⎡ ⎤ ⎡ ⎤ ⎡
This can vCuseful forvCpath
be θ
cosplanning 1
x (v x) cos θ⎥ algorithms.
R + vLavoidance 0 x − r I C C sin θ x− d ( vR + vL )
sin θ
⎥ ⎢ ⎥ ⎢ ⎥ ⎢ 2Iobstacle
or CC
⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ 2 ( vR − vL )
⎥ ⎢ ⎥ ⎢ ⎥ ⎢ 1 ⎥ ⎢ ⎥ ⎥⎢ ⎥ ⎢ ⎥ ⎢ d ( vR + vL )
 e robot. The inverse kinematics model computes
eed vCinemática
C , and angular rate ω C . It is
Inversa - Diferencial obtained by s
wheel speed vR and vL and is given as follows:
⎡ ⎤ ⎡ ⎤
vR vC + 2 d ωC
1
⎣ ⎦ = ⎣ ⎦
vL vC − 2 d ωC
1