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Robots, as complex systems, must detect and isolate faults with high probabilities while doing their tasks with humans or other robots with high precision and they should tolerate the fault with the controller. This necessity forced researchers to design various fault detection and isolation (FDI) for robot manipulators, mobile robots and mobile manipulators. In addition to FDI, a scheme should approximate fault function to give exact information about the fault. In this study, a model-based fault function approximation scheme for robot manipulators using M-ANFIS is proposed.