Abstract—Owing to load variation and unmodeled dynamics, a robot

manipulator can be classified as a nonlinear dynamic system with structured

and unstructured uncertainties. In this paper, the stability and

robustness of a class of the fuzzy logic control (FLC) is investigated and a

robust FLC is proposed for a robot manipulator with uncertainties. In order

to show the performance of the proposed control algorithm, computer

simulations are carried out on a simple two-link robot manipulator