Abstract
Mobile robot is a typical nonlinear control system with nonholonomic constraints, so the system presents some complex features, and the system control becomes quite difficult. But nonholonomic makes robot structure has higher flexibility and reliability. Kinematics model and dynamic model are the foundations for system design and analysis of dynamic and kinematics performance, and are also the guarantee of controller practicability. After finishing nonholonomic characteristic analysis, coordinate transformation method and Lagrange equation method are used to establish kinematics and dynamic model of three-wheeled mobile robot with two driving wheels in this paper. The rationality and validity of the models are verified by simulation result of trajectory tracking.
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