Abstract –This paper presents a fuzzy based adaptive controller for a three-axis SCARA robot (Selective Compliance Articulated Robot Arm) in the presence of non- linearities, uncertainties and external perturbations. The nonlinear system is treated as a partially known system. The known dynamic is used to design a nominal feedback controller based on the well-known feedback linearization method and Proportional Derivative (PD) controller. A fuzzy Proportional Integral (fuzzy-PI) based adaptive tracking controller is applied to further improves the control action. Compensation for the effects of the system uncertainties have been achieved and noticeable improvement of the tracking performance has been obtained. The improvements are based on simplified controller design and improved performance characteristics in terms of highly reduced maximum absolute error.