Interactive

2D Planar Robot Kinematics

Wheel speeds

Left wheel 0.00 Right wheel 0.00

Presets

Run a path

Drive it

Show path trail

WASD/arrows drive · QE rotate. Sliders hold a steady command.

x0.00 m

y0.00 m

θ0°

v0.00 m/s

ω0.00 rad/s

Live kinematics

Body velocity

v = (v_R + v_L) / 2

ω = (v_R − v_L) / L

R = v / ω (turn radius)

World-frame pose rate

ẋ = v cos θ

ẏ = v sin θ

θ̇ = ω

Motor commands

Left wheel—

Right wheel—

L = 0.30 m (wheel track) · wheel r = 0.04 m