Abstarct: Robot manipulators are nonlinear multivariable systems with high couplings and various uncertainties. In this thesis, for the first time descrete adaptive fuzzy non-singular terminal sliding mode control for robotic manipulator is used. The advantage of this method is that adaptive fuzzy control systems are designed on the basis of guaranteeing stability. Because in practical implementation the control law is carried out using digital processors, in this thesis, the simulation is performed in discrete-time mode. Also designing adaptive fuzzy discrete-time controller is performed by voltage and torque control strategies. The proposed method doesn’t require a system model and reduces the chattering and lead to converge the system tracking error to zero in limit time. Also this control method is robust against external disturbance. Simulation studies are performed on a SCARA robot. Stability analysis and simulation results show the effects of this method.