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• Summary of kinematic constraints of wheels (as seen during lecture)

Wheels are tied together based on robot chassis geometry, and therefore their constraints
combine to form constraints on the overall motion

1st step of Kinematic model --> express constraints on the motions of individual wheels. These
motions are combined to compute motion for the wholerobot (chassis). Several important
assumptions:

• The wheel plane must remain vertical at all times

• There is one single point of contact between the wheel andground plane

• There is no sliding at the single point of contact (pure rolling)

• Movement on a horizontal plane

• Wheels not deformable

• Pure rolling (v = 0 at contact point)

• No slipping, skidding, sliding

• No friction for rotation around contact point

• Steering axes orthogonal to the surface

• Wheels connected by rigid frame (chassis)

Constraints :

1. The wheel must roll when motion takes place in the appropriate direction. Rolling Contact

2. The wheel must not slide orthogonal to the wheel plane. Nolateral slippage
FIXED STANDARD WHEEL

The rolling constraint for this wheel enforces that all motion along the direction of the wheel
plane must be accompanied by the appropriate amount of wheel spin so that there is pure
rolling at the contact point

The sliding constraint for this wheel enforces that the component of the wheel’s motion
orthogonal to the wheel plane must be zero:

STEERED STANDARD WHEEL

• β is no longer a constant

• There is no impact on the instantaneous motion constraints

CASTOR WHEEL
• Any motion orthogonal to the wheel plane must be balanced by an equivalent and
opposite amount of castor steering motion