Abstract: In this paper and effective fuzzy control scheme for robots is presented to improve the control performance of robot systems in the presence of friction and load changes as well as geometric parameters changes of dynamics. This scheme consists of a fuzzy logic (FL) controller, which is used as a main controller to ensure desired transient and steady-state behaviors, and a conventional derivative (D) controller, which is used as an auxiliary controller to stabilize the system. On the basis of this scheme, the main idea of achieving a desired control performance is to investigate the membership functions of linguistic variables. Simulation results demonstrated the effectiveness and robustness of the proposed fuzzy control scheme. Besides, the scheme is quite simple in structure and can be easily implemented.