驱动轮和销轨的相对速度按正弦函数变化。
The relative speed between driving wheel and pin rail varies with sinusoidal function.
运用正向运动学模型，根据PWLER各驱动轮的转速可估算出机器人相对于绝对坐标系的位置和姿态。
The robotic forward kinematics model can estimate the position and orientation of the PWLER robot relative to the world coordinates using each driving wheel's rotational velocity of the robot.
结论是：1。驱动轮转数不变时，采煤机的牵引速度保持恒定。驱动轮和销轨的相对速度按正弦函数变化。
Conclusion is made: 1 Traction speed of the shearer keeps constant when the rotation speed of driving wheel is unchanged.
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