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Manipulators are firstly introduced to the industry as world first robot. Since then, there hundreds of robots are designing and implementing. Manipulators, wheel robots and then two wheel robots like segways came into action and doing well in most area. There are several versions of two wheel mobile manipulators and several methods of controlling them. No book has explained how to model the two wheel mobile manipulator correctly. This book explained the modelling of two wheel mobile manipulator starting from basic mathematical equations. It gives comprehensive understanding to the reader about the modelling to two wheel mobile manipulator. Being a under-actuated mechanical system, it is very tough to control. It implies that there is no definite control method for this. Among many control methods, this book presenting several control techniques such as nonlinear PID controller, Sliding mode controller, Reaction Torque observer etc. Using this book, reader will create comprehensive understanding about two wheel mobile manipulator modelling and its control methods .