In order to improve the controller robustness of the parallel SCARA robot, this chapter presents fuzzy based sliding mode control. The first step is the design of first-order sliding mode control, in which both of the simulation and experimental results turns out that the controller can effectively suppress the problem of joint buffetings, handling the un-modeled errors in the dynamic model of the robotic system. Aiming to reduce the influence of dynamic uncertainties and discontinuity of the switching function onto control stability and to enhance the suppression of the joint buffetings, two-order (i.e., super-twist) sliding mode control is adopted and integrated with fuzzy algorithm, of which the performance improvement of dynamic control can be realized.