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In this paper, a novel Forward Double NARX fuzzy model is used for modeling and identifying simultaneously both joints of the prototype 2-axes PAM robot arm. The highly nonlinear coupling feature of both links of the 2-axes PAM robot arm is modeled thoroughly through a Forward Double NARX Fuzzy Model-based identification process using experimental input-output training data. The evaluation of different types of Double NARX Fuzzy Model of the 2-axes PAM robot arm with various ARX model structure will be discussed. For first time, the nonlinear Forward Double NARX Fuzzy Model scheme of the prototype 2-axes PAM robot arm has been investigated. The results show that the nonlinear forward Double NARX Fuzzy Model trained by genetic algorithm yields more performance and higher accuracy than the traditional Fuzzy model.