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# Explanations of the forward kinematics equation

We can start by formulating a solution for forward kinematics. The following figure is an illustration of one of the wheels of the robot:

A single wheel of the robot rotating along the local y-axis

The motion around the y-axis is known as the roll; everything else is called the slip. Let's assume that no slip occurs in this case. When the wheel completes one full rotation, it covers a distance of 2π r, where r is the radius of the wheel. We will assume that the movement is two-dimensional. This means that the surface is flat and even.

When the robot is about to perform a turning motion, the robot ...

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