Ask Your Question

Kinematic and dynamic equations of Robot

asked 2016-09-26 09:55:22 -0500

FAIZ gravatar image

Hello Everyone, I was using innok_heros model for my learning of ROS. I wish if I could have a resource explaining the kinematic equation of the differential drive and other dynamic performance related equations for this robot or any other differential drive robot simulated using ROS.

Thank you.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-09-27 06:13:02 -0500

pablocesar gravatar image

updated 2016-09-27 06:33:36 -0500

Hi, just search for differential drive info.

Example: (the video is OK, but, it is kind of slow)

If you are done with the theory, then, look at this package and to some of the projects that are using it:

There is a package that seems to be what you are asking for:

For learning the core of wheeled mobile robots I recommend you to read chapter 3 of this book:

BE AWARE: That Innok Robotics has actually two types of mobile robots (, one is differential (Innok Heros 223) and the other one is an over-constrained mobile robot (Innok Heros 444) that is used mostly for outdoor purposes and "behaves" like a tank in terms of its way of turning (look at:

edit flag offensive delete link more


Thank you very much for the reply. Since I am new to the ROS environment, I would like to know in what files are the equations for kinetics (suppose for differential drive) are written.

FAIZ gravatar image FAIZ  ( 2016-09-27 15:33:00 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2016-09-26 09:55:22 -0500

Seen: 1,054 times

Last updated: Sep 27 '16