Modeling the kinematics and dynamics of a two-wheeled mobile robot using Lagrangian mechanics for physics education

Abstract This paper provides an in-depth examination of kinematics and dynamics demonstrated by a two-wheeled mobile robot for physics education. The robot is treated as a system operated through the differences in control of its wheels. The dynamic models were obtained by applying Lagrangian mechanics with an appropriate selection of generalized coordinates ( x , y , θ ) for the planar movement of the robot and its rotation about the vertical axis. The Lagrangian was constructed primarily from the system’s kinetic energy, and potential energy was considered zero for motion parallel to the surface. The performed simulations helped in understanding the robot’s dynamic behavior during its curvilinear motion owing to the differential driving wheel velocity and different traction forces. The conclusions reached offer a basis for subsequent control of motion and robotic path navigation of robots with differential driving configurations.