Definition of kinematic variables

The following view shows the kinematic variables schematically using the example of a vehicle with two turntable drive modules:

d

Distance between the drive wheels

L

Distance between the axes of the turntable drive modules

xA, xB

Distance from the turntable drive module to the center point in the direction of travel

yA, yB

Distance from the turntable drive module to the center point perpendicular to the direction of travel

vx, vy

Speed of the vehicle along the X/Y axis

ω

Rotation speed of the vehicle

vAR, vAL

Speeds of the axis of the turntable drive module A

vBR, vBL

Speeds of the axis of the turntable drive module B

αA, αB

Angle of the turntable drive modules A and B