Part 1: Kinematics
Consider the two robots with fixed standard wheels pictured below. Determine the forward kinematic model for each robot. This requires determining the following:
 The relationship between the roll speeds of the wheels and the robot’s velocity in the robot reference frame
 Any constraints on the robot’s motion
You should also describe in words the type of movement that each robot is capable of. You may assume all wheels have radius r.


Your solution should be written neatly and should show your workings, the solution (including any constraints on motion), and a description of the robot’s mobility. You should employ GaussJordan elimination.