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The previous researches for mobile robots are based on the model of mobile robot with invariant weight parameters. However, the most practical mobile robots that bring heavy burden have variant weight parameters: robot's weight and center of gravity. This paper suggests the design of adaptive PD controller, which estimates and adapts the weight parameters of the robots, for a home service mobile robot that brings varying heavy burden. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight parameters, and the operational performance is confirmed by the simulations of target tracking.