Modelo Cinemático Dinámico del Mini Robót Móvil Ricimaf

this paper describes the dynamic model of the wheeled mini mobile robot built in the icimaf whose traction is achieved by means of two motors coupled to two lined plastic wheels with a rubber layer to facilitate its movement and a directional small castor wheel. the necessary jacobian structure is elaborated for the development of the dynamic model.the analysis of a special feature of these robots is included that is its nature non holonómic, in contrast with the robots manipulators, what gives place to a type of restriction of the movement. the elaboration of the dynamic model originated the employment of the lagrange's multipliers. for the obtaining dynamic equations the euler-lagrange' method is used.