Abstract—The aim of this paper is to examination application of Proportional, Integral and Derivative Control (PID) to regulate the movements of the mobile robot arm gripper. Simulation and experimental methods were utilized to verify the sophistication of PID control to regualte the mobile robot manipulator in the collection and placement of several kinds of objects quickly, accurately and correctly. The mathematical modeling is used to utilize the integration of Auto-Desk (Inventor) and MATLAB / Simulink / SimMechanics software. This method works by converting the physical model file into the xml file. This method is absolutely accurate to build the modeling and design robotics. The automatic control design of this robot manipulator is validated in simulations and experimental in control labs as evidence that the mobile robot arm control design can achieve the best performance such as the error signal is lower than 2%. The maximum overshoot signal is less than 2.5% and the stability signal response is achieved within a short time of 5s.