An adaptive fuzzy controller(AFC) is proposed by considering the uncertain payload as well as robot dynamics in task space. To eliminate the noise from the velocity obtained by the differential of position

the velocity is filtered by a low-pass filter

while

the task-space velocity is estimated by the Jacobian matrix. The estimation error is considered in the controller design. And another low-pass filter is used to build the error function. The control law is composed of two parts. The first part is a fuzzy logic system approximating the nonlinear term of the robot dynamics

including friction; and the second part is a robust term to reduce the approximate error of the fuzzy logic system as well as the uncertain external disturbance. Using Lyapunov theory

the controller is given and the stability of the closedloop system is proved. Comparing simulink results by using matlab show that

the tracking tajectory of the endeffector under the proposed AFC controller has good accuracy and smoothness.