Creating a robot model for the differential drive mobile robot

A differential wheeled robot will have two wheels connected on opposite sides of the robot chassis which is supported by one or two caster wheels. The wheels will control the speed of the robot by adjusting individual velocity. If the two motors are running at the same speed it will move forward or backward. If a wheel is running slower than the other, the robot will turn to the side of the lower speed. If we want to turn the robot to the left side, reduce the velocity of the left wheel compared to the right and vice versa.

There are two supporting wheels called caster wheels that will support the robot and freely rotate according to the movement of the main wheels.

The UDRF model of this robot is present in the cloned ROS package. The final robot model is shown as follows:

Figure 12 : 3D model of differential drive mobile robot

The preceding robot has five joints and five links. The two main joints are two wheel joints and the other...