Kinematics Modeling and Motions Analysis of Non-holonomic Mobile Robot

A study on kinematics modeling of non-holonomic mobile robot and the motion analysis is presented. The robot is a four-wheeled robot with two active wheels and two passive wheels. Each active wheel is driven by an independent DC motor. The robot has two degrees of freedom (2-DOF) of motions including translation and rotation. Kinematics modeling is carried out to obtain a mathematics model representing the robot motions. The resulted model is verified through analyzing the robot motion using calculus of parametric equations. A computer program is built based on the model for numeric simulation and visualization of the robot motions. Executing the program resulted in numerical data of the robot motion that was confirmed by an animation of the robot movement. The numerical data includes the position, orientation, linear and angular velocities of the robot, and the corresponding DC motors speed.