Detailed and Correct Derivation of Kinematics Equations of Differential Drive Mobile Robot

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In this robotics tutorial, we explain the kinematics, equations, and geometry of motion of differential wheeled robots that are also known as differential drive robots. The differential wheeled robot is also known as the differential drive robot. In the first part of the tutorial, we derive the equations describing the kinematics of the robot, and in the second part of this tutorial, we will explain how to simulate the motion of the differential wheeled robot in Python.