Abstract—This paper proposes an adaptive fuzzy sliding mode controller (AFSMC) for pantograph haptic device. It has form mechanism with a 2-DoF redundancy actuated parallel robotic manipulator. An adaptive single input single output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller for purport to reject phenomenon chattering by the constant value of K and discontinuous function. The adaptive laws are designed based on the Lyapunov stability theory method. The adaptive laws are practiced online by fuzzy controller combine with the sliding mode control (SMC) to control stability the robot manipulator despite external forces disturbance. Many operation situations such as set point control also the trajectory control are simulated also experiment to demonstrate the operation controllers are good working.