In this paper, a hybrid method for adaptive control of industrial Scara robots with 4 degrees of freedom is presented. One of the
benefits of the proposed controller is to design the control law, the controller is able to deliver real values without knowing the robot
model-dependent parameters such as mass, length of each link of the robot or moment of inertia. In many robot applications, the
weight and moment of inertia of the robot links are constantly changing and the use of a fixed control law for the robot reduces system
performance. To resolve this issue, we use the adaptive control law, since this is not a model of dynamic control law in the face of
such uncertainty or external disturbance is not robust, an adaptive fuzzy estimator will be used to identify uncertainties. Combining
this estimator with the control law will result in robustness of the system against any kind of uncertainty.