In this chapter, an adaptive fuzzy controller is designed for a single-link flexible-joint robotic manipulator subject to output constraint, in which the fuzzy logic systems are employed to identify the unknown nonlinearity. The barrier Lyapunov function is constructed to guarantee that the output of the single-link flexible-joint robotic manipulator is not to violate its constraint. In order to reduce the occupation of communication channel bandwidth, the event-triggered control law is developed based on fixed threshold approach. Incorporating the backstepping technique and Lyapunov stability theory, the proposed control strategy ensures all variables in the flexible-joint robotic manipulator are bounded, and the tracking error converges to the origin with a small scale. Simulation results are given to illustrate the efficacy of the developed control strategy.