Abstract
The Mobile Manipulator Robot (MMR) has manyapplications in different aspects of the life, for example,grasping and transporting, mining, military, manufacturing,construction, and others. The benefits of MMR rise in a dangerous place where the human cannot reach such asdisaster areas and dangerous projects sites. In this work, thePID controller is combined with Fuzzy Logic Controller (FLC)to structure the Fuzzy Supervisory Controller (FSC) toovercome the drawbacks of PID controller and to obtain theadvantages of FLC. Two approaches are suggested for thenavigation of Autonomous Mobile Robot (AMR). These are;goal reaching fuzzy control (GRFC) and the obstacle avoidancefuzzy control (OAFC). The hardware implementation of theAMR is performed using AVR ATmega32 microcontroller, twoDC motors, light dependent resistor (LDR) and five Infra Redsensors. While the Laboratory robot arm with somefabrications is used as manipulator's arm with a five degrees-of-freedom. Then a microcontroller is employed to implement theproposed controller for MMR. The designed MMR is tested inreal environments and give a good navigation.
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