Abstarct: In this work, a pulse width modulation control strategy is represented after mathematical modeling of SCARA robot manipulator including the electrically actuators and drivers. A fuzzy-linear controller is used for controlling the robot position with uncertainties in a variable structure space. The fuzzy controller, controls the nonlinear behavior and uncertainties, and when the error becomes small, then the linear controller eliminates the tracking error. In this study, the robot is controlled by independent joint approach and any coupling effects due to the motion of other lixnks is treated as a disturbance. Behavior of controller and robot is studied in two stages: reference trajectory tracking and reference point tracking. This control strategy is simulated on the G10-654s SCARA robot with permanent magnet DC motor. Simulation results are shown that the proposed controller provides low tracking error and disturbance rejection manner. Moreover, if the tracking error grows and be more than defined value due to any turbulence, then the closed loop system will return to the desired state by fuzzy controller.