对于质心运动守恒问题，理论力学教材中一般用绝对坐标法进行计算。
As to the conservation of motion of center of mass, the method of absolute coordinate system is generally used in the teaching meterials of theoretic mechanics.
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.
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