What is the kinematic model of Wheeled mobile robot which includes slipping?

Posted on 1970-01-01 00:00:00 in Physics by QRIOUS

I have calculated the following with the values below for a wheeled mobile robot. 
mass = 1.2 kg 
time = 10 ms 
radius of a wheel = 32.5 mm 
g= 9.81 ms-2 
current = 2A 
voltage =B 
angular velocity= w 
velocity = v ( varying) 


The equations that I used are 
1. Applied force - Frictional force= mass * Acceleration 
2. Power = Torque * Angular velocity 
3. Power -= Voltage * Current 
4. Force = torque * radius 

I get a formula of 3.9 V + 0.3825 A = 2B/W 
where A and B are coefficient of friction and voltage, the known parameters. 

I need to find a formula in such a way that by changing A and B, I control V. 

But I am unable to to obtain because of the presence of W, 
I cannot use v=rw because it is invalid at slipping. 
How can I solve this to get one line formula?

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