Automation have been appeared in various sectors of industry and manufacturing activities in recent decades and it is progressing day by day. Robots are the newest stage of human effort in automotive industry. A robot is an electromechanical device or an intelligent software to be replaced instead of human in order to perform various tasks. Manipulators is one of the robot divisions that are made up of rigid links and connected to each other by joints. In this thesis, the manipulator of the three-part revolute joints, which is mounted on a non-holonomic movable base, is examined. In the present study, the design of the controller for the intended robot is done. The target of the controller is determining the exact position of the end-effector. The end-effector should be able to track a predetermined (curved or linear) line in three cases such as fixed base, movable base and auto mode positions. The automatic mode is that if the path is predetermined for the manipulator in its workspace, the base of the robot is fixed and the mechanical arm performs the task. then the predetermined path for the manipulator moves out of the robot’s workplace, the base should move to the optimal path of the end-effector again in it’s work space. In addition, the robot should be able to maintain good performance facing to disturbance and put the end-effector in a predetermined desired direction. Dynamic equations of the robot are calculated using the Lagrange method. To verify the dynamics of the robot equations, these equations are compared in two parts consisted of the simulink and Toolbox serial-link of MATLAB. The controllers used in this thesis are computed torque controller and traose jacobian controller with gravity compensation. Then, using the Simulink MATLAB component, the performance of the two controllers is studied and compared. The simulation results in Chapter 4 confirm the correctness and efficiency of the controllers. According to the simulation results in Chapter 4, the result showed that the End-effector has successfully passed the way in either normal or disturbance positions. Key Words Robot, Mobile manipulator, Control, Computed torque controller, Disturbance