Mobile robotics is a notable case of such evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements for the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, notably an increasing number of degrees-of-freedom. This contribution proposes a controller for the motion of the Robotino. The proposed controller takes under consideration a non-interacting control strategy realized using a geometric approach. Horizontal, vertical and angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a Feedforward controller. The approach used to obtain a decoupling consists of a geometric approach. In the past three decades, research on the geometric approach to dynamic systems theory and control has allowed this approach to become a powerful and a thorough tool for the analysis and synthesis of dynamic systems. Simulation results using real data of the Robotino are shown.