Abstract: This paper provides a brief description of the uncertainties of robot manipulators dynamics andtheir advanced control strategies. To overcome the effect of nonlinearities and uncertainties,we develop aneuro-fuzzy control algorithm based on the fuzzy neural network proposed by the authors.The new con-troller can adjust its fuzzy rules and member ship functions on-line. The approach is applied to the dynamiccontrol of robot manipulators and good simulation results are obtained.