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The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensure stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the PD-plus-gravity controller.  Methodology. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can  cancels the effects of  the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system

A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator