Determining the complex mechanism's points kinematic parameters we use the velocities instantaneous center (VIS) [P.
Researched are the third class complex planar mechanism basic link points velocities using methods, departing from techniques of determining the velocity instantaneous centers units, of links under planar movement.
The other area utilizes kinematic models and external measuring devices, such as visual odometry, inertial measurement units (IMUs), and global positioning system (GPS), to estimate slip or the instantaneous centers of rotation (ICRs) locations [5, 911].
As the motions of both tracks can be regarded as pure rotations around their instantaneous centers of rotations ICR; and [ICR.
In this paper, we have developed and identified a slip model of tracked vehicles based on the instantaneous centers of rotation of the two tracks.