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Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. Proportional-integral-derivative (PID)-type fuzzy controller is a well-known conventional motion control strategy for manipulators which ensures global asymptotic stability. To enhance the PID-type fuzzy controller performance for the control of rigid planar robot manipulators, in this paper, a fuzzy pre-compensation of a fuzzy self tuning fuzzy PID controller is proposed. The proposed control scheme consists of a fuzzy logic-based pre-compensator followed by a fuzzy self tuning fuzzy PID controller. In the fuzzy self tuning fuzzy PID controller, a supervisory hierarchical fuzzy controller (SHFC) is used for tuning the input scaling factors of the fuzzy PID controller according to the actual tracking position error and the actual tracking velocity error. Numerical simulations using the dynamic model of a three DOF planar rigid robot manipulator with uncertainties show the effectiveness of the approach in set point tracking problems. Our results show that the proposed controller has superior performance compared to a conventional fuzzy PID controller.