This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The fuzzy rules of each agent are written considering the state of other agents besides its own state. While writing the rules effective delivery and avoiding the contact with human not to cause physical harm is considered. The membership functions of the fuzzy controllers are tuned using genetic algorithms. In tuning, the performance is calculated considering the deviation from the optimum path, time spent to reach the human hand and energy consumed by the actuators. The proposed multi agent system structure based on fuzzy control for the object delivery task succeeded in both effective and safe delivery.