This paper describes the robotic platform ARMOS TurtleBot 1.The platform has been developed for research dedicated to care robotics.It is built on reconfigurable and scalable hardware, with the ability to adapt to specific tasks in motion planning and path planning, and operation both online and off-line.Here we present the development of its kinematic model, which in conjunction with odometric estimation drastically reduces errors in trajectories.The results of laboratory tests are shown in order to determine the accuracy in degrees of the turns and in centimetres of the advance using odometric estimation.The movements used in the tests correspond to those to be used in real environments.