Uncertainty of the robot arm for the trajectory tracking problem, combined with sliding mode and TS fuzzy model has the advantage, given TS fuzzy model based on variable structure tracking methods. First, the use of TS modeling, to be arm's fuzzy model; and then design a robot arm to ensure global asymptotic stability of sliding mode controller. Simulation results show that the design of the fuzzy variable structure controller with an ordinary variable structure controllers, enable robotic arm in terms of computing time, the error on has a greater advantage and more robust.