The industrial robot arm is a sophisticated mechanical device widely utilized in flexible, automated production lines to perform various tasks. Among these, the Scara robot is frequently used in assembly operations. However, due to its highly nonlinear model, the Scara robot presents significant control challenges. External uncertainties during operation often cause deviations in its positional states. To address this issue, this paper proposes the design of an intelligent controller based on an adaptive fuzzy integrated approach. This controller effectively reduces positional state deviations of the robot arm when subjected to external disturbances. The system’s stability is demonstrated using Lyapunov stability criteria, and the controller’s effectiveness is validated through simulations in Matlab-Simulink.