Basic Kinematics of Mobile Robots

In the third chapter, Kinematic for Holonomic Robots, the notebook talks about chassis’ planar twist. I don’t clearly understand what that is. Could you please explain to me what it means?

Hello @vineethrajesh2,

This refers to the velocities of the chassis of the robot, which are 3 in this case: the linear velocity in the X axis (forward/backward movement), the linear velocity in the Y axis (left/right movement) and the angular velocity in the Z axis (left/right rotation). Hope this clarifies your doubts.