Abstarct: This thesis presents a novel adaptive fuzzy control approach for robot manipulators baxsed on voltage control strategy. The TSK fuzzy system is applied to estimate the parameter uncertainty, external disturbances and unmodeled dynamics. This approach guarantees the stability using sliding mode control approach. Adaptive fuzzy approach improves overcoming parametric uncertainty too. The adaptation rules achieve from stability analysis. The control approach is applied on two-lixnk robot arm with geared permanent magnet DC motors. It is assumed that the external disturbance and approximation error of the fuzzy system are bounded and the desired trajectory is smooth in the sense that it's derivatives up to a necessary order available and uniformly bounded to analyze stability. The simulation results verify that the adaptive fuzzy sliding mode controller is superior to robust fuzzy control approach in comparison.