https://cjiams.guilan.ac.ir/ Caspian Journal of Intelligent and Mechatronic Systems en daily 1 Fri, 24 Jul 2026 00:00:00 +0330 Fri, 24 Jul 2026 00:00:00 +0330 https://cjiams.guilan.ac.ir/article_9779.html This paper presents a cooperative transportation strategy for a rigid body manipulated by only two nonholonomic mobile robots using a full multibody dynamic model predictive control (MPC) approach. Unlike existing methods that rely on quasi-static assumptions or simplified kinematic models–which neglect inertial effects– our formulation explicitly incorporates the complete coupled dynamics of the robot–object system, including inertial effects, nonholonomic constraints, and physical contact interactions. A centralized MPC scheme is developed to compute optimal control inputs while simultaneously enforcing three critical constraint sets: (1) actuator saturation limits, (2) nonholonomic motion constraints of differential-drive robots, and (3) explicit contact maintenance constraints that prevent robot detachment from the object. Numerical simulations demonstrate that the proposed framework successfully transports objects from arbitrary initial configurations (x=2 m, y=0.5m) to desired poses (x=2 m, y=0.5m) while satisfying all system constraints. The settling time of approximately 4s is consistent with the system dynamics and actuator limits. The results confirm that only two nonholonomic robots are sufficient when using this advanced control methodology. This work establishes a foundation for dynamic-aware cooperative manipulation systems that bridge the gap between simplified kinematic approaches and physically realistic multibody implementations.