Mobile Robotics
Mobile Robot Kinematics Visualizer
Compute forward and inverse velocity kinematics for Differential Drive, Mecanum, and Ackermann platforms with real-time curvature (ICR) analysis.
🤖 Drivetrain Kinematics Config
Drivetrain Architecture
Differential Drive (2WD/Skid)
Track Width / Wheelbase Distance (L)
0.30 m
Distance between left and right drive wheels center-to-center.
Wheel Radius (r)
0.05 m
Wheel diameter = 10.0 cm.
🎮 Desired Body Velocity Commands (twist)
Forward Linear Velocity (v_x)
0.50 m/s
Yaw Angular Velocity (ω_z)
0.80 rad/s
Turning rate in radians/second (45.8 °/s).
🧭 Instantaneous Center of Rotation (ICR)
Top-down chassis representation with wheel velocity vectors and rotation center.
Left Wheel Speed (ω_L)
7.6 rad/s
72.6 RPM · 0.38 m/s
Right Wheel Speed (ω_R)
12.4 rad/s
118.4 RPM · 0.62 m/s
Instantaneous Turning Radius (R)
0.625 m (62.5 cm)
Calculated as R = v / ω. Turn direction: Counter-Clockwise (Left).
Differential Drive Kinematics Equations:
• v = (r / 2) · (ω_R + ω_L)
• ω = (r / L) · (ω_R - ω_L)
• Inverse: ω_L = (v - (ω · L / 2)) / r
• Inverse: ω_R = (v + (ω · L / 2)) / r
• v = (r / 2) · (ω_R + ω_L)
• ω = (r / L) · (ω_R - ω_L)
• Inverse: ω_L = (v - (ω · L / 2)) / r
• Inverse: ω_R = (v + (ω · L / 2)) / r