In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.