Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip

This paper presents a formulation of the kinematics model of wheeled mobile robot with articulated limbs. In order to describe the contact motion between robot wheels and ground, a differential kinematics model is used. Following the already mentioned, nonholonomic constraints of the wheel no-slip movement are introduced in a form of Pfaffian constraints. Further section of this article describes the kinematics control system preventing wheel slip. To ensure the no-slip motion conditions, null space of a Pffafian constraints matrix is taken into consideration. Finally, numerical simulation is presented as proof of validity for the previously developed and proposed control system.