In this paper, a mobile robot (tricycle robot) and its kinematic and dynamic model are presented. Moreover, its simulation and model control are derived. For a mobile robot to be autonomous, it must perform command tasks and perceive the environment. In this context, navigation plays an important role in the interaction of the robot with its environment. It consists in the determination of possible trajectories by the robot to follow a predefined trajectory. To accomplish this task, our approach relies on the dynamic motion of the robot to generate admissible trajectories. The reference trajectory is first constructed based on a predefined trajectory. To eliminate the navigation problem, an optimization problem with constraints, it is necessary to reduce the difference between the predicted trajectory of the robot and the desired trajectory. Moreover, it is possible to control the behaviour of the robot by using a trajectory parameterized with the dynamic model and its control. Finally, the display of experimental results up to the implementation of the object detection.

In this paper, we introduce the pyramidal robot, a novel kind of parallel cable-based robot that has been constructed and designed with five cables. Last, we suggested a control method. In this context, we studied the application of the Runge-Kutta method of fourth order for resolving the non-linear partial differential equations of our system, which is frequently employed for managing uncertainties in linear systems. The primary contribution of this study is firstly the design of a reel prototype and the creation and implementation of a graphical user interface (GUI) for displaying the position of the end effector. Second, to test the precision of the tracking of the object, we analyse the system’s response using cutting-edge methods such as predictive control. Finally, using the advanced technique proposed, we present the simulation results on this cable-based robot. These results demonstrate the performance of the technique as proposed.

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