The goal of the thesis is to realize a dynamic model of the differential drive robot Agilino. Dynamic models are fundamental in all the robot design phases. Both mechanical design and control software design phases need a model to proceed. Of course different design goals need different models to be used. The last statement lays on the awareness that a general model including all the robot dynamical aspects can be diffcult to realize and also useless with respect to the effort needed to find it. Of course, more general the model is, better it is but also more complex. Therefore, some dynamical aspects are usually simplified or neglected depending on the purpose of the model.