Abstract: In this paper,the problem of fuzzy control for a class of multi-elastic links robots is studied.Firstly,thedynamic simulation model of the robot is proposed.Next,based on the control rules generated by functions,the fuzzy controller is designed.The on-line self-regulating of scaling factors is used to guarantee the satis-factory dynamic properties and steady-state properties of the system.The results of the system simulationshow that the new scheme of elastic robot control in this paper is effective and suitable.So the applicationscope of fuzzy control theory is extended significantly.