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Robotic manipulators are highly coupled multi-input multi-output (MIMO) nonlinear systems with uncertainties and highly time-varying dynamic capabilities. These characteristics make the trajectory control of a robotic manipulator very challenging. This paper presents the modeling and trajectory tracking control of a 3-DOF robotic manipulator using self-tuning fuzzy sliding mode controller (ST-FSMC). The stability of the system was investigated using the Lyapunov direct method. The controller was implemented using MATLAB/Simulink and its performance was evaluated. The simulation results show that the proposed controller removed chattering phenomena from the control effort and reduced the tracking error (average steady-state error) to 0.0036 rad. However, in the case of the conventional controllers, the average steady-state e rror increased to 0.0413 rad, 0.0044 rad, and 0.0053 rad for the Proportional …