Hello!

I would offer an opinion.

The

kinematic model, to my recollection, is the calculation

of Centros and accelerations about a mechanisim. To make a

kinematic model of a robot, would take a

*free body diagram*,

and calculate the forces involved in the robot. Ks, Kd are variables

that are used in calculating the power of movement.

*To use this as an inference, maybe the acceleration from the middle*

of the circle?

If he desires to know the work, or power used, that would entail the

weight moved in the time allotted; which translated to power from the

motor to the wheels for the work by the motor.

I would go to the library to look for a similar problem presented;

specifically,

*REA's problem solvers series*.

**Mechanics, statics, and physics**are the subjects to look into. Undoubtedly, this problem is based on other

similar problem. The problem solvers series has

* ALOT* of solved problems

which may aid you in navigating to a reasonable solution.

Good Luck!...