Assume there is a differential-drive robot (find the parameters from the table according to your group ID) with two driving motors and one spherical wheel in front as shown in the below figure. 2. Drive forward kinematic model for the robot. Starting with finding rolling and no-sliding constraints for each wheel. Write down all the derivations (putting the final answer is not acceptable) below: 3. Assume the robot moves with different wheel angular speeds (and). a. Find motions, of a robot in a robot frame R and b. Find motions.. of a robot in a global frame I. Do the computation below. 4. Given desired linear velocity -3 and angular velocity =3.5 for the differential drive robot, find the and using inverse kinematics model. Do the computation below.