Differential drive wheel speed calculator
From twist to wheel speed. Convert robot linear and angular velocity into left and right wheel angular speeds and RPM. For ideal two-wheel differential drive kinematics.
YOUR RESULT
- Left wheel
- 10 rad/s
- Right wheel
- 10 rad/s
- Left RPM
- 95.492966
- Right RPM
- 95.492966
Calculations run in your browser. No account or upload required.
How to use this calculator
- Enter desired forward speed in m/s and yaw rate in rad/s.
- Enter wheel radius and left-to-right wheel separation in metres.
- Use negative speed for reverse and negative yaw for a right turn.
Formula & convention
ωL = (v − ΩL/2) / r; ωR = (v + ΩL/2) / r. RPM = ω × 60 / (2π).
Worked example
At v=1 m/s, Ω=0 rad/s and wheel radius 0.1 m, both wheels turn at 10 rad/s, or about 95.493 RPM.
Assumptions & limits
L is wheel separation in metres, not wheelbase along the direction of travel. Positive yaw turns left; right wheel is faster. Assumes no slip, identical wheel radii and planar motion. Motor gearing and controller limits are not included.