<p>Selective Compliance Assembly Robot Arm (SCARA robot) takes less space and is easier to install compared to Cartesian robotic systems. It can execute several assembly activities demanding high speed and accuracy, such as pacemakers, hearing aids, and so on. This research aims to develop a fuzzy logic-based technique for synchronizing trajectory planning and obstacle avoidance of an RRP SCARA robot. The first key concept of the proposed strategy is to split down the robot's dynamic operations into more modest, concurrent behaviours, such as trajectory detection and collision avoidance. The second crucial notion is fuzzy coordination between the fundamental actions, which allows for the smooth and collision-free robot manoeuvres. The performance of this fuzzy logic-based coordination is evaluated under critical situations using MATLAB modelling and simulation, which allows the manipulator to operate safely by avoiding its singularity issue.</p>