As it is mentioned the control of a robot arm using AFC can be considerably

improved if a method is found to provide good estimates of the inertia matrix of the

arm. Therefore, AFCAFL scheme which exploits the use of fuzzy logic as the inertial

parameter estimator. The idea behind the AFCAFL scheme is to obtain a continuous

computation of the estimated inertia matrix of the arm. In the proposed scheme the

angular acceleration of link1 and link2 and track error of link1 and link2 are

supposed as inputs and estimated inertia matrix as output. The proposed scheme is

depicted